JP6511308B2 - Inland adjustment robot for concrete floor - Google Patents

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a land adjustment robot for concrete floor surface.

In order to construct a floor slab of a concrete structure, a post-casting concrete is placed and then the upper surface of the concrete is ironed to obtain a flat floor surface.
However, since such work is performed manually, it is inevitable that a convex portion of about 5 mm to 10 mm is partially formed on the upper surface of the concrete.
Therefore, conventionally, after the concrete hardens, the convex portion is pinched by a tool, or a steel wire brush is attached to a floor cleaning polisher and the convex portion is scraped, thereby making the surface of the concrete floor uneven. I am making adjustments.

Japanese Patent Laid-Open No. 2000-303608

However, in the above-mentioned prior art, when the concrete structure has a large concrete floor such as a warehouse of a distribution facility, a great deal of time and labor are required, which is disadvantageous in shortening the construction period. ing.
The present invention has been made in view of such circumstances, and it is an object of the present invention to automatically cut the convex portion of the concrete floor to adjust the unevenness of the concrete floor and to shorten the construction period. It is to provide an inconspicuous adjustment robot for concrete floor surface.

To achieve the above object, an invention according to claim 1, a non land adjustment robot concrete floor, and a moving unit that moves with the chassis, and supports the chassis on the concrete floor, the chassis Of the concrete floor, a height detection unit for detecting the height of the chassis, and the moving unit are controlled to control the non-landing adjustment robot by the concrete floor It is moved over the surface, characterized in that it comprises a control unit for Ru to perform the cutting of the concrete floor by controlling the cutting unit on the basis of the height of the chassis, which is detected by the height detecting unit I assume.
According to a second aspect of the invention, the control unit, said by controlling the cutting unit, before when the height of the chassis, which is detected by the height detection unit exceeds a predetermined allowable range Symbol cutting line Align the concrete floor, the height of the chassis make stops cutting of the concrete floor when it becomes within the allowable range, characterized in that.
In the invention according to claim 3, the chassis is provided with an obstacle detection unit for detecting an obstacle, and the control unit controls the moving unit to detect an obstacle detected by the obstacle detection unit. based on the detection results Before moving the uneven surface adjustment robot over the entire range, except for the obstacle of the concrete floor, characterized in that.
In the invention according to claim 4, the chassis is provided with a light beam detection unit for detecting a light beam of a predetermined wavelength, and the control unit detects the light beam detection unit by controlling the moving unit. that Ru is prohibited movement of the uneven surface adjustment robot across said light beam, characterized in that.
Concrete invention of claim 5, in the chassis, the suction unit is provided to recover by sucking the dust concrete, the control unit, by controlling the suction portion, which is cut by the cutting portion To draw in the dust of the
In the invention according to claim 6, the cutting portion includes a metal brush and a motor for rotating the brush, and the control unit controls the motor to rotate the brush to thereby carry out the concrete cutting the floor surface to I line, characterized in that.
In the invention according to claim 7, the height detection unit is provided on an upper portion of the chassis, and detects a laser reference surface formed along a horizontal surface at a predetermined height, and the height of the chassis is detected. To detect.
The invention according to claim 8 is the induction signal for receiving the induction signal transmitted from the charging unit for charging the battery, the battery for supplying the electric power to the moving unit, the cutting unit, the control unit, and the charging device. A receiving unit is provided, and the control unit controls the moving unit to move the landless adjustment robot to the charging device based on the induction signal received by the induction signal receiving unit; The charging unit is characterized in that the battery is charged by the power supplied from the charging device in a state where the non-landing control robot has moved to the charging device.

According to the first aspect of the present invention, the control unit moves the inland adjustment robot by the moving unit, and the convex portion of the concrete floor surface is cut by the cutting unit based on the height of the chassis detected by the height detecting unit. In the case where the concrete structure has a large concrete floor such as a warehouse of a distribution facility, concrete is automatically cut by operating the inland adjustment robot day and night. It is possible to adjust the non-landing of the floor, which is advantageous in shortening the construction period.
According to the second aspect of the present invention, it is advantageous to reliably adjust the non-landing of the concrete floor surface.
According to the third aspect of the present invention, it is advantageous in reliably performing the inland adjustment of the concrete floor surface while avoiding the interference between the inland adjustment robot and the obstacle.
According to the fourth aspect of the invention, it is possible to freely set the range in which movement of the inland adjustment robot is not preferable, and to stably adjust the inland adjustment operation of the concrete floor surface by the inland adjustment robot. It is advantageous to do. In addition, if light beams are projected to divide the concrete floor surface into a plurality of areas, and an inland adjustment robot is disposed in each area, each inland adjustment robot moves within the area assigned to each. However, since inland adjustment is performed, inland adjustment of a concrete floor surface of a large area can be efficiently performed using a plurality of inland adjustment robots, which is advantageous in shortening the construction period.
According to the fifth aspect of the present invention, there is no need to clean the dust on the concrete floor after the adjustment of the lands, which is advantageous in improving the workability.
According to the sixth aspect of the invention, the concrete floor can be cut with a simple configuration, which is advantageous in simplifying the configuration of the inland adjustment robot and reducing the cost.
According to the seventh aspect of the present invention, regardless of the area and shape of the concrete floor surface, it is sufficient to make a very simple preparation such as forming the laser reference surface, and the effort required for the adjustment of the landslide can be simplified. Be advantageous.
According to the invention of claim 8, since the battery is automatically charged, the landless control robot can be operated for a long time while minimizing the idle time of the landless control robot, and a large area can be obtained. It is possible to efficiently adjust the uneven surface of the concrete floor surface, which is more advantageous in shortening the construction period.

It is a perspective view of the inland adjustment robot concerning an embodiment. It is an A arrow line view of FIG. It is B arrow line view of FIG. It is a block diagram showing composition of a land adjustment robot concerning an embodiment. It is a block diagram which shows the structure of a charging device. It is an explanatory view explaining the use condition of the land adjustment robot concerning an embodiment. It is an operation | movement flowchart of the inland adjustment robot which concerns on embodiment. It is a top view explaining the use condition at the time of limiting the movement range of the inland adjustment robot concerning an embodiment. It is XX sectional drawing of FIG. It is a top view explaining the use condition in the case of performing inland adjustment using two or more inland adjustment robots concerning an embodiment.

Hereinafter, an inland adjustment robot for concrete floor surface (hereinafter, simply referred to as an inland adjustment robot) according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 4, the inland adjustment robot 10 includes a chassis 12, left and right wheels 14A and 14B, left and right wheel motors 16A and 16B, an auxiliary wheel 18, a brush 20, and a brush. Motor 22, suction unit 24, obstacle sensor 26, level sensor 28, light beam sensor 30, induction signal receiving unit 32, battery 34, charging unit 36, robot side terminal unit 37, reference height It is configured to include a height setting switch 38, an operation switch 40, a control unit 42, and the like.

The chassis 12 includes a disc-like bottom plate 1202, a cylindrical side plate 1204 standing from the edge of the bottom plate 1202, and a disc-like top plate 1206 connecting the upper portion of the side plate 1204 to have a disk shape. There is.
The left and right wheels 14A and 14B are provided on the bottom plate 1202 at intervals in the diametrical direction of the chassis 12, and are provided rotatably about the same axis.
The left and right wheel motors 16A and 16B are provided inside the chassis 12 and independently drive the left and right wheels 14A and 14B to rotate.
The auxiliary wheel 18 is provided at a position of the bottom plate 1202 which is the same distance from the left and right wheels 14A and 14B, and is supported rotatably around an axis orthogonal to the bottom plate 1202.
In the present embodiment, a moving unit configured to support the chassis 12 and move on the concrete floor surface 2 by the left and right wheels 14A and 14B, the left and right wheel motors 16A and 16B, and the auxiliary wheel 18 is configured.

The brush 20 is formed in a cylindrical shape by a large number of wires made of steel, and both axial ends are rotatably supported on the bottom plate 1202 via bearings in a state where the axial direction is parallel to the bottom plate 1206 and rotates Thus, the tip of the wire is configured to cut the concrete floor 2.
The brush motor 22 is provided inside the chassis 12 and drives the brush 20 to rotate.
In the present embodiment, the brush 20 and the brush motor 22 form a cutting portion provided at the lower portion of the chassis 12 and capable of cutting the concrete floor surface 2.

The suction unit 24 sucks and collects dust of the cut concrete.
In the present embodiment, the suction unit 24 includes a suction port 2402 provided at the bottom plate 1202 in the vicinity of the brush 20, a suction motor 2404 connected to the suction port 2402 and sucking air by a fan, and suctioned air And a removable filter (not shown) for removing dust contained therein.

The obstacle sensor 26 detects an obstacle such as a wall, a pillar, or a step and supplies a detection result to the control unit 42, and constitutes an obstacle detection unit.
As the obstacle sensor 26, those exemplified below can be used. In addition, one type of the obstacle sensor 26 exemplified below may be provided, or a plurality of types of sensors may be combined.
1) A photoelectric sensor for detecting an obstacle by irradiating the detection light outward in the radial direction of the chassis 12 and receiving the reflected light reflected by the detection light.
2) An ultrasonic sensor for detecting an obstacle by radiating a transmission wave of ultrasonic waves outward in the radial direction of the chassis 12 and receiving a reflection wave reflected by the transmission wave.
3) A radar sensor that detects an obstacle by radiating a transmission wave of an electromagnetic wave outward in the radial direction of the chassis 12 and receiving a reflection wave reflected by the transmission wave.
4) A touch sensor provided on the side wall 1202 of the chassis 12 to detect physical contact with an obstacle.

The level sensor 28 protrudes vertically upward from the upper plate 1206, and detects the laser reference surface 44 (FIG. 3) formed along the horizontal surface at a predetermined height, thereby raising the height of the chassis 12 The height Δh is detected and the detection result is supplied to the control unit 42. In other words, the height Δh of the chassis 12 is specified by the position of the laser reference surface 44 detected by the level sensor 28. In the present embodiment, the level sensor 28 constitutes a height detection unit.
The level sensor 28 includes, for example, a plurality of light receiving elements arranged in the height direction, and detects the height of the chassis 12 based on the position of the light receiving element that detects (receives) the laser reference surface 44. Do.
In the present embodiment, each light receiving element is configured to be able to detect light all around in the circumferential direction centering on the center of the level sensor 28 in plan view.

The light beam sensor 30 is provided so as to protrude vertically upward from the upper plate 1206, and detects a light beam of a predetermined wavelength generated from a light beam generator 56 (FIGS. 8 to 10) described later, and the detection result Is supplied to the control unit 42, and constitutes a light beam detection unit.
The light beam sensor 30 is configured of a light receiving element capable of detecting infrared light if light of a predetermined wavelength is infrared light.

  The induction signal receiving unit 32 receives an induction signal transmitted from the induction signal transmitting unit 48 of the charging device 46 (FIG. 6) provided separately from the inland adjustment robot 10.

  The battery 34 supplies power to the above-described components, and is charged automatically by the charging device 46.

The charging unit 36 charges the battery 34 with the power supplied from the charging device 46, detects the remaining amount of the battery 34, and supplies the detection result to the control unit 42.
The robot side terminal unit 37 is provided exposed on the side plate 1204 of the chassis 12, connected to the charging unit 36, and provided so as to be connectable to the charging device side terminal unit 52 of the charging device 46.

The reference height setting switch 38 and the operation switch 40 are provided at appropriate places of the chassis 12, for example, the upper plate 1206.
When the reference height setting switch 38 is operated, an operation of setting the reference height H of the chassis 12 by the control unit 42 described later is executed.
When the operation switch 40 is operated, control by the control unit 42 is started, and an inland adjustment operation of cutting the convex portion 4 (FIG. 6) of the concrete floor 2 while moving is performed.

The control unit 42 is configured by a computer.
The computer includes a CPU, a ROM, a RAM, an input / output interface and the like connected via a bus line.
The ROM stores a predetermined control program and the like, and the RAM provides a working area.
The input / output interface is connected to the left and right wheel motors 16A and 16B, brush motor 22, suction motor 2404, obstacle sensor 26, level sensor 28, light sensor 30, reference height setting switch 38, and operation switch 40. It is done.

  The control unit 42 controls the left and right wheel motors 16A and 16B and the brush motor 22 based on the detection results supplied from the obstacle sensor 26, the level sensor 28, and the light beam sensor 30 when the CPU executes the program. Control of the suction motor 2404 is performed.

To explain in detail, the control unit 42 moves the inland adjustment robot 10 across the entire area of the concrete floor surface 2 excluding the obstacle based on the detection result of the obstacle detected by the obstacle sensor 26. , Controls the left and right wheel motors 16A, 16B.
In addition, the control unit 42 controls the left and right wheel motors 16A and 16B so as to prohibit the movement of the inland adjustment robot 10 crossing the light beam detected by the light beam sensor 30.
Further, the control unit 42 controls the left and right wheel motors 16A and 16B so that the inland adjustment robot 10 moves toward the charging device 46 described later based on the induction signal received by the induction signal receiving unit 32. Control.
The non-land control robot 10 moves along a straight line or a curved line by individually rotating the left and right wheel motors 16A and 16B individually or reversely under the control of the control unit 42, and Stop at any place.

Further, the control unit 42 controls the brush motor 22 based on the height Δh of the chassis 12 detected by the level sensor 28.
That is, when the height Δh of the chassis 12 detected by the level sensor 28 exceeds the predetermined allowable range, the control unit 42 drives the brush motor 22 to cut the concrete floor 2 by the brush 20. When the height Δh of the chassis 12 falls within the allowable range, the brush motor 22 is stopped to stop the cutting of the concrete floor surface 2 by the brush 20.
For example, assuming that the reference height H (mm) set in advance and the allowable range is defined as H (mm) ≦ Δ h +2 H + 2 (mm), the detected height h h of the chassis 12 exceeds H + 2 (mm) In this case, cutting of the concrete floor 2 is performed, and cutting of the concrete floor 2 is stopped when the detected height Δh of the chassis 12 becomes H + 2 (mm) or less.
The reference height H of the concrete floor surface 2 is set in advance to the control unit 42 before the non-land adjustment operation of the concrete floor surface 2 by the non-land adjustment robot 10 is started, as described later.
Further, the control unit 42 drives the suction motor 2404 while driving the brush motor 22 to suction the concrete dust cut by the brush 20 from the suction port 2402 and stop the brush motor 22. Then, the suction motor 2404 is stopped to stop the dust suction operation.

FIG. 5 is a block diagram showing a configuration of the charging device 46 that automatically charges the battery 34 of the land adjustment robot 10. As shown in FIG.
The charging device 46 is configured to include an induction signal transmitting unit 48, a power feeding unit 50, and a charging device side terminal unit 52.
The induction signal transmission unit 48 transmits an induction signal. The induction signal is, for example, an infrared signal, and causes the inland adjustment robot 10 to recognize the position of the charging device 46 and to guide the inland adjustment robot 10 toward the charging device 46.
The charging device side terminal portion 52 is provided so as to be connectable to the robot side terminal portion 37 of the inland adjustment robot 10 which has moved to the charging device 46.
The power supply unit 50 charges the battery 34 by supplying power to the charging unit 36 via the robot side terminal unit 37 connected to the charging device side terminal unit 52.
As shown in FIG. 6, the charging device 46 is installed on the concrete floor surface 2 which performs inland adjustment.

Next, the operation of the inland adjustment robot 10 will be described.
As shown in FIG. 6, post-casting concrete is cast to form a rectangular concrete floor surface 2, and pillars 6 are erected at four corners of the concrete floor surface 2.
Further, wall portions 8 connected to the concrete floor surface 2 are erected on the four sides of the concrete floor surface 2, and the concrete floor surface 2 is surrounded by the wall portions 8.
The concrete floor surface 2 has a plurality of convex portions 4 although most parts are flat surfaces since the operator smoothes the floor surface with a trowel after the post-cast concrete is cast. .
Then, the laser level 54 forming the laser reference plane 44 parallel to the horizontal plane is attached to each column 6 by turning the laser light projected parallel to the horizontal plane around the axis in the vertical direction and scanning. It is done.
The heights of the plurality of laser reference planes 44 formed by the respective laser levels 54 are the same as each other, and the heights of the laser reference planes 44 can be detected by the level sensor 28 of the landing robot 10. It is positioned at
Thus, forming the plurality of laser reference planes 44 by the plurality of laser levels 54 is advantageous for the level sensor 28 to reliably detect the laser reference plane 44.
A single laser reference surface 44 may be formed by a single laser level 54. In this case, only one laser level 54 is required, which is advantageous in increasing the efficiency of the installation operation. .

Hereinafter, the operation of the inland adjustment robot 10 will be described with reference to the flowchart of FIG.
When the installation of the laser level 54 is completed, the reference height H of the chassis 12 is set (step S10).
That is, the switch 38 for reference height setting is operated in a state in which the inland adjustment robot 10 is placed on the flat surface of the concrete floor surface 2 excluding the convex portion 4.
The control unit 42 sets the position of the laser reference surface 44 detected by the level sensor 28 as the reference height H of the chassis 12.

Next, when the operation switch 40 is operated, the control unit 42 controls the inland adjustment robot 10 over the entire area of the concrete floor surface 2 excluding the obstacle based on the detection result of the obstacle detected by the obstacle sensor 26. Control the left and right wheel motors 16A and 16B so as to move (step S12).
In the present embodiment, since the wall 8 is an obstacle, the inland adjustment robot 10 moves over the entire area of the concrete floor 2 surrounded by the wall 8.

Then, the control unit 42 determines whether or not the height Δh of the chassis 12 specified by the position of the laser reference surface 44 detected by the level sensor 28 exceeds the predetermined allowable range (step S14). .
If the height Δh of the chassis 12 exceeds the allowable range, the control unit 42 drives the brush motor 22 to cut the concrete floor 2 with the brush 20 and also drives the suction motor 2404 to generate dust. Suction is performed (step S16).
Then, the process returns to step S14, and steps S14 and S16 are repeated until the height Δh of the chassis 12 is within the allowable range, whereby the height of the convex portion 4 of the concrete floor surface 2 becomes the allowable range. It is cut.

If it is determined in step S14 that the height Δh of the chassis 12 does not exceed the allowable range, the control unit 42 determines whether the termination condition is satisfied (step S18).
As the termination condition, for example, it is assumed that the elapsed time from the start of the operation of the inland adjustment robot 10 is counted, and the termination condition is satisfied when the elapsed time has reached a predetermined termination time.
If the termination condition is not satisfied in step S18, the control unit 42 detects the remaining amount of the battery 34 by the charging unit 36, and determines whether the remaining amount of the battery 34 is lower than a predetermined lower limit, ie, the battery 34 It is determined whether or not the remaining amount of V is insufficient (step S20).
If the remaining amount of the battery 34 is not insufficient at step S20, the process returns to step S12.
If the remaining amount of the battery 34 is insufficient at step S20, the control unit 42 moves the inland adjustment robot 10 to the charging device 46 based on the induction signal received by the induction signal receiving unit 32 (step S22).
Then, the robot side terminal unit 37 and the charging device side terminal unit 52 are connected to each other, whereby the battery 34 is charged by the charging device 46 (step S24).
After the end of charging, the process returns to step S12.
On the other hand, if the termination condition is satisfied in step S18, the battery is moved to the charging device 46 and charged as in the steps S22 and S24 (steps S26 and S28).
After the end of charging, the standby state is maintained, and the series of operations is ended.

  In the above description, the case where the movement range of the inland adjustment robot 10 is limited by the wall portion 8 constituting the obstacle has been described. However, as described below, a beam of a predetermined wavelength is used to The movement range of the land adjustment robot 10 can be limited.

In FIG. 8 and FIG. 9, the wall portion 8 is provided on three sides of the rectangular concrete floor surface 2, the remaining one side is opened, and a light beam of a predetermined wavelength is detected along the remaining one side. A light beam projection device 56 is placed on the concrete floor 2.
The light beam projector 56 projects the belt-like light beam 56A along the concrete floor 2 with the width direction thereof aligned in the vertical direction, and the position of the belt-like light beam 56A is detectable by the light sensor 30. Is defined.
The control unit 42 controls the left and right wheel motors 16A and 16B to prohibit movement across the belt-like light beam 56A when the belt-like light beam 56A is detected by the light beam sensor 30.
As a result, the inland adjustment robot 10 cuts the convex portion 4 of the concrete floor surface 2 while moving within the range surrounded by the wall portion 8 and the belt-like light ray 56A.
By thus limiting the movement range of the inland adjustment robot 10 using the light beam 56A, the range in which the inland adjustment robot 10 is not preferable to move can be set simply and reliably.

In the above description, although one inland adjustment robot 10 has been described, it is also possible to simultaneously operate a plurality of inland adjustment robots 10 to perform incoherence adjustment of the concrete floor surface 2 as described below. it can.
As shown in FIG. 10, wall portions 8 are provided on four sides of the rectangular concrete floor surface 2.
Then, the light beam projection device 56 is placed on the concrete floor 2 at two places where one long side of the two long sides is equally divided into three so that the concrete floor 2 is equally divided into three in the longitudinal direction. The light beam projector 56 projects a light beam 56A of a predetermined wavelength toward the other long side.
Thereby, the concrete floor surface 2 is divided into the first, second and third regions 2A, 2B and 2C.
Then, one inland adjustment robot 10 is disposed and operated for each of the areas 2A, 2B, and 2C.
The control unit 42 controls the left and right wheel motors 16A and 16B to prohibit movement across the belt-like light beam 56A when the belt-like light beam 56A is detected by the light beam sensor 30, as in the above-described case. .
As a result, each of the inland adjustment robots 10 disposed in the first to third regions 2A, 2B, 2C moves on the concrete floor while moving within the range surrounded by the wall portion 8 and the belt-like light beam 56A. Cutting of the convex part 4 of 2 is performed.
In this way, by limiting the movement range of the plurality of inland adjustment robots 10 using the light beam 56A, each inland adjustment robot 10 performs inland adjustment while moving within the range assigned to each. The inland coordination robots 10 do not interfere with each other to prevent their movement.
Therefore, inland adjustment in each area 2A, 2B, 2C can be efficiently performed, and inland adjustment of the concrete floor 2 of a large area is efficiently performed using a plurality of inland adjustment robots 10 It is advantageous in shortening the construction period.

As described above, according to the present embodiment, the convex portion 4 of the concrete floor 2 is cut by the cutting portion based on the height of the chassis 12 detected by the level sensor 28 while moving the inland adjustment robot 10 Cut it.
Therefore, if the concrete structure has a large concrete floor surface 2 like a warehouse of a distribution facility, the inland adjustment robot 10 is operated at any time of day and night to automatically make the concrete floor surface 2 By cutting the convex portion 4, the non-land adjustment of the concrete floor surface 2 can be performed, which is advantageous in shortening the construction period.

  Further, in the present embodiment, when the height Δh of the chassis 12 detected by the level sensor 28 exceeds the predetermined allowable range, the concrete floor surface 2 is cut by the cutting portion, and the height of the chassis 12 is measured. Since it is made to stop cutting of the concrete floor 2 by a cutting part when it becomes in a tolerance | permissible_range, it becomes advantageous when performing the non-land adjustment of the concrete floor 2 reliably.

  Further, in the present embodiment, movement of the inland adjustment robot 10 is performed over the entire area of the concrete floor surface 2 excluding the obstacle based on the detection result of the obstacle detected by the obstacle sensor 26. This is advantageous in ensuring the inland adjustment of the concrete floor 2 while avoiding the interference of the inland adjustment robot 10 and the obstacle.

Further, in the present embodiment, the movement of the inland adjustment robot 10 crossing the light beam 56A detected by the light beam sensor 30 is prohibited.
Therefore, it is possible to freely set the range in which it is not preferable for the inland adjustment robot 10 to move, and it is advantageous in stably and reliably performing the inland adjustment operation of the concrete floor surface 2 by the inland adjustment robot 10 Become.
In addition, as a range where it is not preferable that the inland adjustment robot 10 moves, for example, the range in which the height is lower than the concrete floor 2 such as stairs, or the cast-in-place concrete is not hardened Range etc. are mentioned.
In addition, when the light beam 56A is projected so as to divide the concrete floor surface 2 into a plurality of areas, and the inland adjustment robot 10 is disposed in each area, the area in which each inland adjustment robot 10 is allocated to each area Since the inland adjustment is performed while moving inside, the inland adjustment robots 10 do not interfere with each other to disturb each other's movement.
Therefore, inland adjustment in each area can be efficiently performed, and inland adjustment of the concrete floor surface 2 of a large area can be efficiently performed using a plurality of inland adjustment robots 10, and the construction period It is advantageous to shorten the

  Further, in the present embodiment, since the suction portion 24 for suctioning and collecting the dust of concrete cut by the cutting portion is provided to the inland adjustment robot 10, the dust of the concrete floor surface 2 is adjusted after the inland adjustment. There is no need to clean, which is advantageous in improving the workability.

  Further, in the present embodiment, the cutting portion has the metal brush 20 and the motor 22 for rotating the brush 20, and the brush 20 is rotated by the motor 22 to cut the concrete floor surface 2 Thus, the concrete floor surface 2 can be cut with a simple configuration, which is advantageous in simplifying the configuration of the inland adjustment robot 10 and reducing costs.

  Further, in the present embodiment, the level sensor 28 is provided on the top of the chassis 12 and detects the height of the chassis 12 by detecting the laser reference surface 44 formed along the horizontal plane at a predetermined height. Since the detection is performed, it is sufficient to perform extremely simple preparation such as forming the laser reference surface 44 regardless of the area and shape of the concrete floor surface 2, which is advantageous in simplifying the time required for the adjustment of the lands .

Further, in the present embodiment, the inland adjustment robot 10 is moved to the charging device 46 based on the induction signal received by the induction signal receiving unit 32, and the charging unit 36 causes the inland adjustment robot 10 to transmit the charging device 46. In the moved state, the battery 34 is charged by the power supplied from the charging device 46.
Therefore, since charging of the battery 34 is performed automatically, the land adjustment robot 10 can be operated for a long time while minimizing the down time of the land adjustment robot 10, and a concrete floor surface 2 of a large area can be obtained. Adjustment can be performed efficiently, which is more advantageous in shortening the construction period.

2 Concrete floor 10 Uneven adjustment robot 12 Chassis 14A, 14B Left and right wheels (moving part)
16A, 16B Left and right wheel motor (moving part)
18 Auxiliary wheel (moving part)
20 Brush (cutting part)
22 Brush motor (cutting part)
24 suction unit 26 obstacle sensor (obstacle detection unit)
28 Level sensor (height detector)
30 light sensor (light detector)
32 Induction signal receiving unit 34 Battery 36 Charging unit 42 Control unit 44 Laser reference surface 46 Charging device

Claims (8)

Inconsistency adjustment robot for concrete floor surface,
With the chassis,
A moving unit which supports the chassis moves on the concrete floor,
A cutting portion provided at a lower portion of the chassis and capable of cutting the concrete floor surface;
A height detection unit that detects the height of the chassis;
It said concrete by the said uneven surface adjustment robot by controlling the moving unit is moved over the concrete floor, and controls the cutting portion on the basis of the height of the chassis, which is detected by the height detecting unit a control unit for Ru to perform the cutting of the floor,
Inconsistency adjustment robot for a concrete floor surface characterized by comprising: The control unit, by controlling the cutting unit, the line Align cutting before Symbol concrete floor when the height of the chassis, which is detected by the height detection unit exceeds a predetermined allowable range , the height of the chassis make stops cutting of the concrete floor when it becomes within the allowable range,
The non-land adjustment robot for a concrete floor surface according to claim 1, characterized in that The chassis is provided with an obstacle detection unit for detecting an obstacle;
The control unit controls the moving unit to adjust the unevenness over the entire range of the concrete floor surface excluding the obstacle based on the detection result of the obstacle detected by the obstacle detection unit. Before moving the robot,
The non-land adjustment robot for a concrete floor surface according to claim 1 or 2, characterized in that The chassis is provided with a light detection unit for detecting light of a predetermined wavelength,
The control unit, by controlling the moving unit, Ru is prohibited movement of the uneven surface adjustment robot crossing the light beam detected by the light detecting unit,
The non-land adjustment robot for a concrete floor surface according to any one of claims 1 to 3, characterized in that To the chassis, the suction unit is provided to recover by sucking the dust concrete,
The control unit controls the suction unit to suction dust of concrete cut by the cutting unit .
The non-land adjustment robot for a concrete floor surface according to any one of claims 1 to 4, characterized in that: The cutting unit includes a metal brush and a motor that rotates the brush.
Wherein the control unit, the line I to the cutting of the concrete floor by rotating the brush by controlling the motor,
The non-land adjustment robot for a concrete floor surface according to any one of claims 1 to 5, characterized in that: The height detection unit detects the height of the chassis by detecting a laser reference surface which is provided on an upper portion of the chassis and formed along a horizontal surface at a predetermined height.
The non-land adjustment robot for a concrete floor surface according to any one of claims 1 to 6, characterized in that A battery that supplies power to the moving unit, the cutting unit, and the control unit;
A charging unit for charging the battery;
And an induction signal receiving unit for receiving an induction signal transmitted from the charging device;
The control unit controls the moving unit to move the landless adjustment robot to the charging device based on the induction signal received by the induction signal receiving unit.
The charging unit charges the battery with power supplied from the charging device in a state in which the non-land control robot moves to the charging device.
The non-land adjustment robot for a concrete floor surface according to any one of claims 1 to 7, characterized in that

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