JP6566001B2 - Self-propelled scooping device and scooping method - Google Patents

Description

  The present invention relates to a self-propelled scooping device and a scooping method that automatically perform scissors maintenance on a surface of a metal plate such as a thick steel plate.

  Conventionally, as a scraping device that automatically cleans the surface of a metal plate such as a steel plate, a linear slide device such as a rail is laid on both sides of the steel plate, and the thickness is increased along this guide. 2. Description of the Related Art A portal grinding device is known in which a carriage traveling in the rolling direction (longitudinal direction) of a plate is provided with one or a plurality of grinding devices on a slider movable in the width direction (for example, Patent Literature 1 and Patent Literature 1). 2).

  Further, in Patent Document 3, the position of the steel plate surface is input in advance to the grinding device via a wire, and the grinding device is moved based on the position information to perform grinding grinding of the steel. A running surface scraping device has been proposed.

  In addition, as a method of measuring the self-position of a self-propelled device on a thick steel plate without laying an auxiliary device such as a linear slide device or track rail, the floor surface or ceiling surface of the travel route is photographed with a TV camera. In addition, a method for image processing of the video and a method for calculating a current position by mounting a gyro sensor and accumulating a traveling speed and an angular speed at high speed are widely known.

JP-A-51-58988 JP-A-52-111093 Japanese Patent Laid-Open No. 62-124864

  The portal grinding apparatus as shown in Patent Documents 1 and 2 is large in size as a whole, and requires a very large investment including the layout of an existing factory.

Moreover, although the self-propelled surface scraping device shown in Patent Document 3 can reduce the size of the device itself, there are the following problems.
(1) Since it is necessary to input the wrinkle position in advance, it is necessary to perform preliminary work of position information and wrinkle depth information on the wrinkle removal device and an input work such as input work thereof.
(2) When it is assumed that no auxiliary devices such as linear slide devices and track rails are installed, the self-position of the scraping device on the surface of the thick steel plate cannot be measured with sufficient accuracy. For example, when a position is detected by using a gyro sensor, the position is calculated by integrating the angular velocities, and there is a disadvantage that an error occurs in the position calculation with time. For this reason, a shift | offset | difference arises between an actual heel position and the self position which a rake device recognizes, and there exists a possibility of grinding and grinding an incorrect location.
(3) Due to the necessity of guiding the apparatus to the saddle position, a cart and a track rail laid in the longitudinal direction of the thick steel plate material are required, and the incidental work thereof occurs. And, since the accuracy of the saddle position information is affected by the accuracy when laying the track rail for this bogie, it is necessary to install the track rail when changing the plank size, reversing the plank, or for each new plank, It involves extremely complicated work.

  Therefore, the present invention can be downsized without complicating the structure and handling, and can self-propelled that can care for the wrinkles dispersed on the surface of the metal plate in a short time with high accuracy. It is an object of the present invention to provide a type scooping device and a scooping method.

In order to solve the above problems, the present invention provides the following (1) to (22).
(1) A self-propelled scoring device that scoops the surface of a metal plate using an indoor position measurement system that recognizes the scissor position of the metal plate and performs self-position measurement in an indoor space based on the principle of triangulation. Because
A carriage that has at least two wheels capable of normal rotation and reverse rotation and a drive unit that drives the wheels, and travels on a metal plate surface;
A navigation signal transmitter or a navigation signal receiver that is mounted on the carriage, constitutes the indoor position measurement system, and transmits or receives an indoor position measurement system signal;
A grinding apparatus for removing wrinkles on the metal plate provided on the carriage;
Based on the information on the eyelid position recognized using the indoor position measuring system, the target position range is taught, and the deviation of the self position recognized using the indoor position measuring system signal from the target position is calculated. A self-propelled scissor characterized by comprising control means for instructing the drive unit to rotate forward, reverse, and stop the wheel according to the deviation to autonomously travel the carriage to a predetermined target position. apparatus.

  (2) The indoor position measurement system is an IGPS, and a navigation receiver mounted on the carriage receives a rotation fan beam emitted from one or more navigation transmitters of the IGPS and receives the rotation fan. The self-propelled scooping device according to (1), which recognizes a beam as an IGPS signal as the indoor position measurement system signal.

  (3) The indoor position measurement system uses laser triangulation technology, and is configured as laser triangulation having a function in which a navigation transmitter mounted on the carriage projects and receives a laser. The self-propelled scraping device according to (1), wherein the laser is reflected by one or more reflectors and the reflected light is received as the indoor position measurement system signal.

  (4) at least an actuator unit having a scanning actuator that scans the grinding device in a uniaxial direction along the metal surface; and a control unit that controls the actuator unit, wherein the control unit includes the control unit Any one of (1) to (3), wherein the scanning actuator is controlled in conjunction with the control for autonomously running the carriage or independently of the control means for autonomously running the carriage. The self-propelled scissor device according to crab.

(5) The grinding apparatus has a grindstone that is ground in contact with a metal plate to be scraped,
(4) The actuator unit includes a lift actuator that moves the grinding device in a normal direction of the metal plate so that the pressing pressure of the grindstone against the metal plate can be controlled. Self-propelled scissoring device.

  (6) The self-propelled scissor device according to (5), wherein the control unit controls the elevating actuator independently of a control of the control means for autonomously driving the carriage.

  (7) The grindstone is formed in a disk shape by combining a plurality of abrasive grains with a binder, and the control unit moves the grinding device along the metal plate surface by the scanning actuator of the actuator unit. The self-propelled scissoring device according to (5) or (6), wherein the scanning actuator is controlled so that the grinding device repeats forward and backward movements in a scanning operation in a uniaxial direction.

  (8) The self-propelled scissor device according to (7), wherein a scale is formed on a surface of the metal plate.

  (9) The carriage has four wheels that can rotate forward and reverse, and the drive unit is provided corresponding to each wheel, and a first drive system that rotationally drives each wheel; It is constituted by a second drive system capable of turning the drive wheel by 90 ° or more around an axis that is perpendicular to the metal plate surface on which the carriage travels and that is offset toward the center of the carriage with respect to the wheel. The self-propelled scooping device according to any one of (1) to (8).

  (10) The apparatus further comprises adsorption means for adsorbing the carriage to the metal plate and suppressing displacement of the carriage due to a reaction force of the grinding device when scraping the surface of the metal plate. The self-propelled scooping device according to any one of to (9).

  (11) The self-propelled scraping device according to (10), wherein the attracting means is an electromagnet.

(12) A self-propelled scoring method for scoring the surface of a metal plate using an indoor position measurement system that recognizes the reed position of the metal plate based on the principle of triangulation and performs self-position measurement in an indoor space. Because
A navigation signal transmitter that constitutes the indoor position measurement system and transmits or receives an indoor position measurement system signal to a cart that travels on a metal plate surface by driving at least two wheels capable of normal rotation and reverse rotation by a drive unit. Or, equipped with a navigation signal receiver and a grinding device that removes wrinkles of the metal plate,
Recognizing heel position information using the indoor position measurement system, teaching a target heeling range based on the heel position information, and recognizing the target position of the self position recognized using the indoor position measurement system signal The wheel is autonomously driven to a predetermined target position by instructing the drive unit to perform normal rotation, reverse rotation, and stop according to the deviation, and the grinding device is used to calculate the deviation from the metal plate surface. A self-propelled scooping method characterized by scoring.

  (13) The indoor position measurement system is an IGPS, and a navigation receiver mounted on the carriage receives a rotation fan beam emitted from one or more navigation transmitters of the IGPS and receives the rotation fan. The self-propelled collection method according to (12), wherein a beam is recognized as an IGPS signal as the indoor position measurement system signal.

  (14) The indoor position measurement system uses laser triangulation technology, and is configured as laser triangulation having a function in which a navigation transmitter mounted on the carriage projects and receives a laser. The self-propelled scooping method according to (12), wherein the reflected laser is reflected by one or more reflectors and the reflected light is received as the indoor position measurement system signal.

  (15) In combination with the control for autonomously running the carriage or independent of the control for autonomously running the carriage, at least the grinding device is scanned in a uniaxial direction along the metal surface to remove the scraping. The self-propelled scooping method according to any one of (12) to (14), which is performed.

  (16) The self-propelled type according to (15), wherein the grinding device is moved in the normal direction of the metal plate so that the pressing pressure of the grinding wheel of the grinding device against the metal plate can be controlled. How to get rid of it.

  (17) The self-propelled scissors according to (16), wherein the grinding device is controlled to move in the normal direction of the metal plate independently of the control for autonomously driving the carriage. Method.

  (18) The grindstone is formed in a disc shape by combining a plurality of abrasive grains with a binder, and the grinding device advances in an operation of scanning the grinding device in a uniaxial direction along the metal plate surface. The self-propelled scooping method according to (16) or (17), wherein the scanning actuator is controlled so as to repeat retreat.

  (19) The self-propelled scraping method according to (18), wherein a scale is formed on a surface of the metal plate.

  (20) The carriage has four wheels that can be rotated forward and backward, and the driving unit drives the wheels to rotate and is orthogonal to the metal plate surface on which the carriage travels, and the wheels. On the other hand, the self-propelled scraping method according to any one of (12) to (19), wherein the wheel can be turned by 90 ° or more around an axis that is offset toward the center of the carriage.

  (21) The carriage is caused to adsorb to the metal plate to suppress a position shift of the carriage due to a reaction force of the grinding device at the time of scraping the surface of the metal plate. The self-propelled scooping method according to any of the above.

  (22) The self-propelled scraping method according to (21), wherein the carriage is attracted to the metal plate by an electromagnet.

  According to the present invention, an indoor position measurement system that performs self-position measurement in an indoor space based on the principle of triangulation is configured, and a navigation signal transmitter or navigation signal that transmits or receives an indoor position measurement system signal. Since the receiver can be installed on a carriage equipped with a grinding device, and the self-position can be recognized using the indoor position measurement system signal, and the saddle position can be taught. The position and angle of the carriage on the metal plate can be recognized with high accuracy without using any marking or image processing mark. Further, a deviation from the recognized self position and the target position can be calculated, and the vehicle can be autonomously driven to a predetermined target position by instructing normal rotation / reverse rotation / stop of the wheel according to the deviation.

1 is a perspective view showing a schematic configuration of an entire system including a self-propelled scooping device using an indoor position measurement system according to a first embodiment of the present invention. It is a perspective view which shows schematic structure of the whole system containing the self-propelled scooping apparatus using the indoor position measuring system which concerns on the 2nd Embodiment of this invention. It is a block diagram of the whole system containing the self-propelled scooping apparatus using the indoor position measuring system which concerns on the 1st Embodiment of this invention. It is a side view which shows the trolley | bogie used for the self-propelled scraping apparatus which concerns on the 1st Embodiment of this invention. It is a horizontal sectional view by the AA line which shows the trolley | bogie used for the self-propelled scraping apparatus which concerns on the 1st Embodiment of this invention. It is a front view which shows the trolley | bogie used for the self-propelled scraping apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of the structure of the grindstone used for a grinding apparatus. It is sectional drawing which expands and shows the drive part of the trolley | bogie used for the self-propelled scraping device which concerns on the 1st Embodiment of this invention. It is explanatory drawing for demonstrating the steering pattern which determines the traveling direction of a self-propelled scraping apparatus. It is a figure for demonstrating the method of acquiring the position and attitude | position information of a metal plate. It is a figure which shows the system configuration | structure at the time of acquiring the position and attitude | position information of a metal plate. It is a flowchart for the position and attitude | position detection of a metal plate. It is a figure which shows the coordinate system set based on the measurement point of the board edge in the work flow of the position and attitude | position detection of a metal plate. It is a flowchart which shows the teaching method of the target picking range. It is a figure which shows the coordinate system which sets a shading range based on the measurement point of the vertex position of the polygon which consists of the line segment which comprises a shaving range in the work flow of the shading range teaching of a metal plate. 6 is a flowchart for setting a metal plate scraping pattern. It is a figure which shows the example of the operation | movement pattern of a trolley | bogie and a scanning actuator determined in the work flow of the scraping pattern setting of a metal plate. It is explanatory drawing for demonstrating a motion of a trolley | bogie and a scanning actuator at the time of scraping a metal plate, making a trolley | bogie run. It is explanatory drawing for demonstrating a motion of a trolley | bogie and a scanning actuator when scraping a metal plate in the state which stopped the trolley | bogie. It is explanatory drawing for demonstrating the grinding surface profile when the metal plate surface is ground with a flap disk grindstone. It is explanatory drawing for demonstrating the grinding surface profile when the metal plate surface is ground over multiple rows with a flap disk grindstone. FIG. 8 is a diagram illustrating a state in which a “spilled shape” abnormality has occurred in the grindstone illustrated in FIG. 7. It is a figure which shows the state in which abnormality of "clogging type" generate | occur | produced in the grindstone shown in FIG. FIG. 8 is a diagram showing a state where a “blind shape” abnormality has occurred in the grindstone shown in FIG. 7. It is a figure which shows typically the case of only advancing (scanning of one direction D1), when making a grinding device scan in a uniaxial direction with respect to a metal plate surface. It is a figure which shows typically the case where it is made to scan so that advancing (one direction D1) and retreating (opposite direction D2) may be repeated alternately, when a grinding device is scanned to a uniaxial direction with respect to a metal plate surface.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a perspective view showing a schematic configuration of an overall system including a self-propelled scissoring device using an indoor position measurement system according to a first embodiment of the present invention, and FIG. 2 shows a second embodiment of the present invention. FIG. 3 is a perspective view showing a schematic configuration of the entire system including a self-propelled scooping device using the indoor position measuring system, and FIG. 3 is a self-propelled scissor using the indoor position measuring system according to the first embodiment of the present invention. It is a block diagram which shows schematic structure of the whole system containing a picking-up apparatus.

  As shown in FIG. 1, when the self-propelled scooping device according to the first embodiment is used, an overall system 100 includes an indoor position measuring system 200 and a self-propelled scooping device according to the first embodiment. 300.

  The indoor position measurement system 200 shows an example using IGPS as an example in which a navigation receiver is mounted on the self-propelled scraper 300 side. Specifically, the indoor position measurement system 200 includes a plurality of navigation transmitters 11, a navigation receiver 12, and a host computer 13 including position calculation software.

  A self-propelled scissor device 300 according to the first embodiment includes a cart 14 that travels on a metal plate 10 that is a scooping target, for example, a thick steel plate, and the navigation receiver 12 that is provided on the cart 14. And a grinding machine 15 including a grinding device 35 having a grinding wheel for grinding, and the host computer 13 including software for causing the carriage 14 to autonomously travel to a predetermined target position.

  2. Description of the Related Art Generally, a satellite navigation system (GPS) recognizes and determines a three-dimensional coordinate value (hereinafter referred to as “coordinate value”) that matches a position of a GPS receiver using three or more GPS artificial satellites. An indoor position measurement system in which such a concept is applied indoors is IGPS (Indoor Global Position System). IGPS is described in detail in US Pat. No. 6,501,543.

  In the indoor position measurement system 200, each navigation transmitter 11 emits two rotating fan beams (fan beams). The rotating fan beam may be a laser fan beam or other light emitting means. The navigation receiver 12 receives the rotating fan beam emitted from the transmitter, and can grasp the relative positions from many transmitters. At this time, the rotating fan beam is deviated by a predetermined angle, and the coordinate value, that is, the position or height of the receiver that receives the rotating fan beam can be measured. Information received by the navigation receiver 12 is wirelessly transmitted to the host computer 13, and the host computer 13 calculates the position of the navigation receiver 12 according to the principle of triangulation. Therefore, by calculating the position of the navigation receiver 12 by such a method, the current position and posture information of the traveling carriage 14 equipped with the navigation receiver 12 can be obtained in real time.

  In addition, the host computer 13 uses the indoor position measurement system 200 to provide software that teaches the target scissors position (range) of the metal plate corresponding to the positions of the wrinkles that are dispersed on the metal plate 10. include.

  On the other hand, as shown in FIG. 2, when using the self-propelled scooping device according to the second embodiment, the overall system 100 ′ includes an indoor position measuring system 200 ′ and a self-propelled type according to the second embodiment. And a scraping device 300 '.

  Contrary to IGPS, the indoor position measurement system 200 'is used for navigation on the self-propelled scraper 300' side of the indoor position measurement system that performs self-position measurement in an indoor space based on the principle of triangulation. As an example of mounting a transmitter, laser triangulation technology mounted on a cleaning robot that autonomously runs inside an office building is used (for example, http://robonable.typepad.jp/news/2009/11/25subaru. see html). Specifically, the indoor position measurement system 200 ′ includes a navigation transmitter 12 ′ installed on the upper portion of the carriage 14, a plurality of reflectors 11 ′, and a host computer 13 including position calculation software.

  A self-propelled scraping device 300 ′ according to the second embodiment includes a carriage 14 that travels on a metal plate 10, the navigation transmitter 12 ′ provided above the carriage 14, and a grinding wheel equipped with a grindstone. It is comprised from the scraping apparatus 15 containing the apparatus 35, and the said host computer 13 containing the software for making the trolley | bogie 14 run independently to a predetermined target position.

  In this embodiment, the navigation transmitter 12 'is configured as laser triangulation, and the autonomous traveling of the carriage 14 is performed by the navigation transmitter 12' that is laser triangulation and a reflector 11 'installed on a wall surface, for example. The laser triangulation constituting the navigation transmitter 12 'is provided at the upper part of the carriage 14, and has a function of projecting and receiving a laser. Then, a 360 ° laser L is projected from the navigation transmitter (laser triangulation) 12 ', and the reflected light from the reflector 11' is received as an indoor position measurement system signal, and from the time until the reflected light returns. The position and direction can be calculated by recognizing the direction of each reflector 11 'from the angle and comparing it with the coordinate position of the reflector registered in advance.

  The self-propelled scooping device 300 of the first embodiment and the self-propelled scooping device 300 ′ of the second embodiment are either provided with a navigation receiver 12 in the carriage 14 or transmitted for navigation. Since the only difference is that the machine 12 ′ is provided, the following description uses the self-propelled towing device 300 according to the first embodiment in which the navigation receiver 12 is mounted on the carriage 14 to measure the indoor position. A case where the system (IGPS) 200 is used will be described.

  As shown in FIG. 3, the host computer 13 sets the current position calculation software 16 for calculating the position of the navigation receiver 12, the target picking position, and route information. And setting / evaluation software 17 for obtaining the wrinkle position information. The setting / evaluation software can select the target scooping position (scoring range) teaching mode of the metal plate, and, as will be described later, the position of the metal plate to which the navigation receiver 12 of the indoor position measurement system 200 is attached, and It has a function of recognizing wrinkles using a contact type probe of a posture detection jig and teaching a wrinkle removal range.

  As shown in FIG. 3, the carriage 14 includes a navigation receiver 12 that is a part of the indoor position measurement system 200 described above, the scraping device 15 including the grinding device 35 described above, an on-board computer 21, and an IO board. 23, a scanning actuator 24, a drive control unit 25 including a controller and a driver, a wheel 26 for traveling, a wheel motor 27 for driving and turning wheels, and a lift actuator 28 are attached. The scanning actuator 24 and the lift actuator 28 constitute an actuator unit.

  The carriage 14 has a function of autonomously traveling along the target route and a function of scraping the metal plate 10.

  As for the former function, the navigation receiver 12, the on-board computer 21, the drive control unit 25, the wheel 26, and the wheel motor 27, which are a part of the indoor position measurement system 200 described above, are responsible. That is, the information about the current position, posture information, and target pick-up position of the cart, which is the calculation result in the host computer 13 described above, is wirelessly transmitted to the on-board computer 21 mounted on the cart by wireless communication. Calculate the deviation of the current position from the heel position. A control signal is output from the drive control unit 25 to the wheel motor 27 so that the deviation depending on the position and posture of the bogie main body is zero among the deviations, and feedback control of the speed and steering angle of the wheels 26 is performed. In this way, autonomous travel is performed along the target travel route.

  As for the latter function, a grinding device 35 equipped with a grindstone that makes contact with the metal plate 10 to grind, a scanning actuator 24 that scans the grinding device 35 in the horizontal direction, a lifting actuator 28 that raises and lowers the grinding device 35, and an on-board computer. 21 and the drive control part 25 bear.

  That is, the on-board computer 21 calculates the necessary scanning amount of the scanning actuator 24 that scans the grinding device 35 that is a component of the scraping device 15 from the target scraping position and the current cart position information from the host computer 13 and drive control. The unit 25 scans the scanning actuator 24 by the necessary scanning amount. The position information of the scanning actuator 24 is fed back to the onboard computer 21 and is calculated as the position information along with the current cart position information. The scraping data in the scraping device 15 is taken from the scraping device into the on-board computer 21 via the IO board 23 and wirelessly transmitted to the host computer 13 together with the scraping position information. At this time, the scanning actuator 24 may control the position of the grindstone in conjunction with the control for causing the carriage 14 to run independently, or may control the position of the grindstone independently of the running of the carriage 14 independently. The drive control unit 25 also controls the scanning actuator 24 so that the grinding operation of the grinding device 35 is suitable for scraping.

  Moreover, the lifting / lowering actuator 28 controls the grinding device 35 in the normal direction (vertical direction) of the metal plate 10 so that the grinding stone pressing force against the metal surface of the grinding device 35 becomes constant. The pressing force may be measured directly by an appropriate pressing force detecting means, for example, a load cell. For example, in the case of a grinding device that rotates a flap disc grindstone, a driving motor torque (current) that rotates the flap disc grindstone instead of the pressing force. The same function can be obtained even if (value) is used. In this way, more accurate scoring can be performed by controlling the grinding stone pressing force to be constant.

  The drive control unit 25 may control the scanning actuator 24 in conjunction with the above-described control for causing the carriage 14 to autonomously travel to a predetermined target position, or may be controlled independently from such control. Good. Moreover, it is preferable that the drive control part 25 controls the raising / lowering actuator 28 independently of the control which makes the trolley | bogie 14 autonomously drive to a predetermined target position.

  Next, the physical configuration of the carriage 14 that forms the main part of the self-propelled scraping device according to the present invention will be described. 4 is a side view of the carriage 14, FIG. 5 is a horizontal sectional view taken along line AA, and FIG. 6 is a front view thereof. FIG. 7 is an enlarged sectional view showing the drive unit.

  The carriage 14 has a carriage main body 31, and the carriage main body 31 is divided into an upper step portion 31a and a lower step portion 31b.

  In the upper stage 31a, a radio communication unit 33 is provided in addition to the navigation receiver 12, the on-board computer 21, and the IO board 23 described above.

  The lower stage portion 31 b includes a traveling wheel 26, a drive control unit 25, a drive motor 27 a and a turning motor 27 b as the wheel motor 27, a grinding device 35 that forms part of the scraping device 15, and a lifting actuator controller. 37, an electromagnet 40 is provided as an adsorption means for adsorbing the battery 38 and the carriage 14 to the metal plate 10.

  The grinding device 35 has a grindstone 36 for wrinkle removal, and is supported by an elevating actuator 28. The grinding device 35 is attached to the support portion 39 via the lifting actuator 28. A horizontal scanning shaft 43 is provided on the lower stage portion 31a of the carriage body, and the support member 39 is guided by the horizontal scanning shaft 43 and can move in the horizontal direction. Therefore, the grinding device 35 is scanned in the horizontal direction by moving the support member 39 along the horizontal scanning axis 43 by the scanning actuator 24 (not shown in FIGS. 4, 5 and 6). 4 to 6 show examples in which the grinding device 35 is provided on both sides, but only one side may be provided.

  The whetstone for grinding 36 is a flap disk grindstone. For example, as shown in FIG. 7, a high hardness abrasive grain 71 is held by a bonding material 72 called a bond bridge, and the whole is disc-shaped. It has become. Then, the grinding device 35 is scanned on the metal material 10 while the grindstone 36 is rotated, whereby the surface of the metal material 10 is ground. As the abrasive grains 71, alumina, silicon carbide, diamond, boron nitride or the like is used. Further, as the binding material 72, ceramic material, resin, metal or the like is used.

  The electromagnet 40 that is the attracting means is fixed to the carriage main body 31 in the vicinity of the surface of the metal plate 10. The electromagnet 40 may have a flat shape near the bottom of the carriage, or may be disposed inside the wheel 26 as a magnet wheel. By generating the attracting force at the timing required for the electromagnet 40, it is possible to prevent the positional displacement of the cart body 31 due to the reaction force during grinding.

  Four wheels 26 are installed at the bottom of the carriage 14 so as to be capable of turning 90 ° or more independently of each other, and omnidirectional control by these is possible. After detecting the operating state of the motor using a motor encoder (not shown) corresponding to each of the plurality of wheel motors, omnidirectional control used for normal robot control is performed using the detected signal. It becomes like this.

  The drive unit 50 drives each wheel independently, and is provided with four wheels for each wheel. As shown in FIG. 8, the wheel drive motor 27a and a turn for steering are provided as the wheel motor 27, respectively. Motor 27b. A pinion gear 51 is attached to the shaft of the turning motor 27b for steering, and the pinion gear 51 is meshed with a rack gear 53 on the outer periphery of the steering turntable 52.

  A housing (not shown) of a wheel drive motor 27a is mounted on the steering turntable 52, and an output rotation shaft 54 of a reduction gear of the wheel drive motor 27a passes through the steering turntable 52 and moves downward. It extends. A first cross shaft gear 55 is coupled to the lower end of the output rotation shaft 54. A second cross shaft gear 56 is engaged with the first cross shaft gear 55, and the second cross shaft gear 56 is coupled to a shaft member 57 of the wheel 26. The shaft member 57 is rotatably supported by a suspension structure 58 that extends downward from the steering turntable 52.

  Accordingly, the wheels 26 are rotated by the drive motor 27a, and the wheels 26 are turned together with the steering turntable 52 and the suspension structure 58 by the turning motor 27b. The wheel driving motor 27a can rotate the wheel forward and backward, and the turning motor 27b is orthogonal to the metal plate surface on which the carriage 14 travels and is about an axis that is offset to the center of the carriage 26 with respect to the wheel 26. It can turn 90 degrees or more.

  Next, a steering pattern for determining the traveling direction of the self-propelled scraping device will be described. FIG. 9 is an explanatory diagram for explaining the steering pattern. (A) is a left-right movement, (b) is an oblique movement, (c) is a back-and-forth movement, and (d) is a steering state of super turning. Note that the super-revolution turning means that a vehicle having a crawler such as a hydraulic excavator or a tank changes the direction of the vehicle body without moving by rotating the left and right crawlers oppositely at the same speed.

Next, a scooping operation in the self-propelled scooping device 300 using the indoor position measurement system 200 according to the first embodiment will be described.
First, the acquisition of the position and orientation information of the metal plate in the pre-process of setting the target picking position and the picking path will be described. FIG. 10 is a diagram for explaining a method for acquiring the position and orientation information of the metal plate, and FIG. 11 is a diagram showing a system configuration at that time.

  As shown in these drawings, here, the contact type probe 61 of the metal plate position and orientation detection jig 60 to which the navigation receiver 12 of the indoor position measurement system 200 is attached is connected to the corner of the metal plate 10 as the measurement target. Apply the position and measure the position. In order to measure the contact coordinates at that time with high accuracy, the geometric positional relationship between the navigation receiver 12 and the contact probe 61 is usually determined with high accuracy within ± 50 micrometers. In the indoor position measurement system 200, information on the position (X, Y, Z) and attitude (θx, θy, θz) of the navigation receiver 12 can be obtained, so the position of the navigation receiver 12 and the contact probe 61 If the relationship is determined, it is possible to perform an operation for converting the position information of the navigation receiver 12 into position information at the contact probe position.

  FIG. 12 is a flowchart for detecting the position and orientation of the metal plate, and FIG. 13 is a diagram showing a coordinate system set based on the measurement points of the plate end in the work flow for detecting the position and orientation of the metal plate. First, an edge position detection mode of a metal plate is selected on an operation screen on a host computer constituting the indoor position measurement system (step 1). Subsequently, using the metal plate position / posture detection jig, the position of the measurement point A is measured as the corner of the plate at the origin (step 2). Subsequently, the plate edge measurement point B position is measured as a corner (corner) adjacent to the measurement point A in the rolling direction (step 3). Subsequently, the plate end measurement point C position is measured as the measurement point A and the diagonal plate corner (corner) (step 4). In this way, the edge position is detected in at least three corners among the four corners of the metal plate, and a rectangular shape including the three points in the corner is calculated. Since the position and orientation of the plate can be detected, the position and orientation of the metal plate when a rectangular shape including the measurement position coordinate data of the measurement points A (origin), B, and C at three corners (corners) is assumed. Is set by the host computer, and a coordinate system is set in which the measurement point A is the origin, the vector direction from the measurement point A to B is the X direction, and the direction orthogonal thereto is the Y direction (step 5). This coordinate system is hereinafter referred to as a metal plate coordinate system.

  Since the metal plate is not necessarily rectangular, such a case may be assumed, and the position and orientation of the metal plate may be detected as a quadrangular shape connecting the four corners of the metal plate on a line.

  In the case of the second embodiment, the contact probe 61 is provided on the metal plate position and orientation detection jig to which the navigation transmitter 12 'configured by laser triangulation of the indoor position measurement system 200' is attached. The position measurement may be performed by applying it to the corner position of the metal plate 10 as the measurement target.

  Next, a method for teaching the target picking range will be described. FIG. 14 is a flowchart showing a method of teaching the target winning range. After setting the metal plate coordinate system as described above, the setting / evaluation software 17 in the host computer selects the target cutout range teaching mode of the metal plate (step 6), and then the metal plate position and orientation detection jig. Is used to recognize the position of the eyelid, and based on this, as shown in FIG. 15, the vertex position of the polygon consisting of the line segments constituting the eyelet range is measured (measurement point a, measurement point b, measurement Point c ...) (step 7). Subsequently, on the software of the host computer, the polygonal range including the measurement points a, b, c, d,... At the corner is recognized as the trimming range (step 8).

  Next, a method for setting a target picking route will be described. FIG. 16 is a flowchart of a method for setting a target haunting path. In the setting / evaluation software 17 in the host computer, the target cutting pattern setting mode of the metal plate is selected (step 9), and then the grinding care direction is selected from the rolling direction and the non-rolling direction (step 10). The target grinding depth is input according to the wrinkle depth (step 11), and the feed speed of the grinding device pressing force is determined based on the database information registered in the host computer (step 12). Based on the position and orientation information, the software determines the target picking position and picking path in the metal plate coordinate system (step 13), and determines the carriage and scanning actuator operation pattern for achieving the main picking path (step). 14).

  FIGS. 17A and 17B show examples of operation patterns (care direction, scanning route (pitch, etc.)) of the carriage and the scanning actuator. (A) is an example in the case where the care direction is the rolling direction, and (b) is an example in another case.

Next, the movement of the carriage 14 of the self-propelled scraper will be described.
FIG. 18 is an explanatory diagram for explaining the movement of the carriage and the scanning actuator when the metal plate is scraped while the carriage is running. As described above, scooping is performed based on the target scooping position and the scooping path. Here, since the metal plate 10 is scraped while the carriage 14 is traveling, the carriage 14 is stopped in the vicinity of the end of the plate so that the carriage 14 does not fall from the metal plate 10, and the shortage is scanned by the horizontal actuator. . When scraping is performed while the carriage 14 is traveling, the electromagnet 40 for preventing the positional deviation is not energized and no attracting force is generated. In accordance with the target scraping position path, a target carriage position and a target scanning amount of a scanning actuator (not shown in FIG. 18) that scans the grinding device 35 (whetstone) are determined, the wheels 26 are driven, and steering control and scanning are performed. Actuator scan. Such scraping while running the carriage is effective for efficient scraping when the reaction force during grinding is relatively small.

  FIG. 19 is an explanatory diagram for explaining the movement of the carriage and the scanning actuator when the metal plate is scraped with the carriage stopped. In this case as well, scoring is performed based on the target scoring position and scoring path as described above. Here, the carriage 14 is caused to travel, stopped at a predetermined position, and if necessary, the electromagnet 40 for preventing displacement is energized to generate an attracting force between the metal plate 10 and the carriage 14. In addition, scraping is performed while the grinding device 35 (grinding stone) is scanned by a scanning actuator (not shown in FIG. 19) (see FIG. 19A). Next, when the attraction force of the electromagnet 40 is generated, the energization of the electromagnet 40 is turned off to release the attraction force, and then the carriage 14 travels to the next stop position, where the carriage 14 is stopped, If necessary, the electromagnet 40 generates an attracting force, and the scraping is performed while operating the grinding device 35 (grinding stone) by the scanning actuator (see FIG. 19B).

  FIG. 20 is an explanatory diagram for explaining a grinding surface profile when a metal plate surface is ground using a flap disk grinding wheel as the grinding wheel 36 of the grinding apparatus. In FIG. 4, the grinding device 35 is attached in an inclined state with respect to the lifting actuator 28, but in FIG. 20, the grinding device 35 is attached to the lifting actuator 28 in a straight line for convenience. Show.

  When the grindstone 36 is a flap disc grindstone, the grinding surface profile changes according to the grindstone diameter and grinding depth, but the center portion of the grindstone is the deepest and becomes a shallower profile as it moves to the left and right. By using a circular shape such as a flap disk grindstone as the grindstone 36, there is an advantage that it is possible to prevent a step from occurring in a discontinuous portion between the ground surface and the non-ground surface. In the scraping device of the present embodiment, the elevation of the position of the metal plate 10 that can be controlled in the normal direction between the carriage main body and the grinding device 35 so that the pressing force of the grinding wheel 36 of the grinding device 35 can be arbitrarily controlled. An actuator 28 and a dedicated controller are provided. As a result, a smooth cutting surface profile without a step can be obtained by controlling the grinding stone pressing force continuously or stepwise so that a step does not occur in the non-continuous portion between the grinding surface and the non-grinding surface. Can do.

  Grinding equipment not only depending on the type of metal plate (steel type in the case of steel plate), mechanical characteristics, surface condition (with or without scale layer), but also on grinding conditions such as the scanning direction of the grindstone 36, the grinding position (flat part, edge part), etc. Since the grinding surface profile with respect to the pressing force fluctuates, it is necessary to create a database of grinding conditions for achieving the target maintenance depth under various conditions based on prior evaluation.

  FIG. 21 is an explanatory diagram for explaining a grinding surface profile when a metal plate surface is ground over a plurality of rows using a flap disk grinding wheel as the grinding wheel 36. This example is an example of rolling direction grinding in which grinding is repeatedly performed by scanning a grinding device (grinding stone) in one direction of rolling as shown in FIG. 21A, and (b) is the first grinding. (C) shows the grinding surface profile of the second grinding, and (d) shows the grinding surface profile when the grinding is further repeated a plurality of times. In addition, P shows a grinding surface profile in the figure. At this time, since the grinding surface profile P varies according to the grinding conditions, the row interval (pitch) at the time of grinding is determined so that the variation of the grinding depth of the grinding surface profile over a plurality of rows is minimized.

  By the way, the flap disk grindstone used as the grindstone 36 is configured by holding the abrasive grains 71 having high hardness by a bonding material 72 called a bond bridge as shown in FIG. 10 is scanned, a problem in grinding the surface of the metal plate by such a grindstone 36 is a state change of the grindstone 36 accompanying continuous grinding.

  In the case of normal grinding, when the grinding process progresses and the abrasive cutting edge slows down, the abrasive grain 71 is cleaved due to an increase in grinding resistance, and a new cutting edge is generated moderately, and the original sharpness is restored again (normally) form).

  However, when the degree of bonding of the grindstone 36 to be used is soft with respect to the set grinding conditions, the bonding material 72 holding the abrasive grains 71 withstands the grinding resistance applied to the abrasive grains 71 as shown in FIG. It breaks without being broken, and an abnormality occurs in which the abrasive grains 71 fall off with a size close to that of the original grains. This is referred to as a “spilled shape”. In this case, although sharp cutting can always be performed with a sharp cutting edge, the interval between the abrasive grains 71 becomes wide, and grinding wheel wear increases, resulting in deterioration of processing accuracy and finished surface roughness.

  Further, as shown in FIG. 23, there is a case where an abnormality occurs in which the pores of the grindstone 36 are blocked by the shavings 73 and there is no chip escape. This is called a “clogged shape”. The reason for the pores being blocked is that when grinding soft and sticky materials such as aluminum, copper, and stainless steel, chips may adhere across the tip of the abrasive cutting edge, and castings, stones, etc. There are two types of cases in which chips are poorly discharged and clogged in pores when dry grinding is performed. In either case, the grinding resistance increases and vibration is likely to occur. In addition, the finish surface often generates “mushy” and “chatter”.

  Furthermore, as shown in FIG. 24, the cutting edge of the abrasive grain may be worn smoothly, and an abnormality in which the sharpness is lowered may occur. This is called a “blind shape”. This occurs when the degree of bonding is too hard with respect to the grinding conditions, the hardness of the abrasive grains is too low, or the peripheral speed at which the grindstone is used is too fast. In the crushing shape, the cutting edge of the abrasive grain becomes dull as the grinding process proceeds, and the sharpness is extremely lowered. As a result, grinding resistance and grinding heat increase, and chattering and grinding burn occur. (Refer to Noritake Company Limited homepage http://www.noritake.co.jp/products/abrasive/support/support_grinding/basic.html)

  A typical example of the metal plate 10 is a case of using a steel material whose surface is covered with black rust, which is also called black skin or mini-scale, by hot rolling, but in this case, a black having a relatively high hardness in the grinding process. The skin peels off at the time of grinding, adheres to the surface of the grindstone and causes clogging, and the above-mentioned “clogging” abnormality is likely to occur. In addition, by grinding a black skin with high hardness, there is a possibility that a spilled shape or a shape or an abnormal shape of the clogged shape may occur depending on the grinding conditions.

  In particular, portal type grinding machines (for example, Patent Document 1 and Patent Document 2) aim for uniform grinding quality by maintaining constant grinding conditions such as grinding speed and pressing force. If the conditions are not suitable, in the continuous grinding, the above-mentioned abnormality, particularly the “clogging type” abnormality occurs in the grindstone, and there arises a problem that the grinding quality is not stable. Also in the carriage 14 in the first and second embodiments, as shown in FIG. 25, when grinding the metal plate 10 having the black skin 74 formed on the surface, the grinding device 35, that is, the grindstone 36 is used as the metal plate surface. On the other hand, when scanning in the uniaxial direction, if scanning is performed only in the one direction D1, the black skin 74 is peeled off during grinding, and adheres to the surface of the grindstone 36 and clogging occurs.

  As a result of examining grinding methods that are unlikely to cause such abnormalities in the grindstone, in manual grinding using a hand grinder, abnormalities such as the above-mentioned `` spilled shape '', `` clogged shape '', and `` clogged shape '' are observed. We focused on the points that are hard to occur. Observing hand grinder grinding by skilled workers, it was found that grinding was not repeated in a fixed direction, but repeated in a push-pull operation, that is, in a repetitive motion including movement in the reverse direction. In this case, the black skin is removed in the grinding process in one direction, and the base material from which the black skin has been removed in the grinding process in the reverse direction is ground.

  In other words, as described above, the black skin peels off during black skin grinding, and adheres to the surface of the grindstone and becomes `` clogged '' and is in a state of being prone to occur, but by sandwiching the process of grinding the base material continuously, It was found that the black skin adhering to the surface of the grindstone peels off from the grindstone surface, and the “clogging” abnormality is less likely to occur even during continuous grinding.

  Therefore, in the first and second embodiments, the grindstone 36 and the grinding conditions are selected as conditions suitable for the metal plate 10 that is the material to be cared for, and as shown in FIG. 26, the drive control unit 25 (see FIG. 3). ) To control the scanning actuator 24 (see FIG. 3), and in the operation of scanning the grinding device 35 in the uniaxial direction along the metal plate surface, the forward movement (one direction D1) and the backward movement (opposite direction D2) are repeated alternately. In this way, the above-described operation is taken in, and the grinding device 35 (the grindstone 36) is scanned in one direction D1 as a whole. As a result, clogging of the grindstone 36 can be prevented even during continuous grinding, and abnormalities such as spillage and clogging caused by clogging can be prevented.

  As described above, according to the first embodiment, the rotating fan beam received from the one or more navigation transmitters of the indoor position measurement system (IGPS) installed in the space is received. Is installed in a cart provided with a grinding device for scraping a metal plate, recognizes its own position using the IGPS signal, and according to the second embodiment, A navigation transmitter is installed on a cart equipped with a grinding device that grinds the metal plate, and a 360 ° laser is projected from there using laser triangulation, and the reflected light from the reflector is received to determine its position. recognize. Accordingly, the position and angle of the carriage on the metal plate can be recognized with high accuracy without using the metal plate marking or the image processing mark. In addition, the deviation from the recognized self position and the target position is calculated, and the carriage is autonomously driven to the predetermined target position by instructing the normal rotation / reverse rotation / stop of the wheel according to the deviation. Straightness to the route can be ensured. Further, since the heel position can be taught by these indoor position measurement system signals, the heel position can be accurately grasped without complicated operations.

  For this reason, the apparatus can be reduced in size without complicating the structure and handling of the apparatus, and wrinkles dispersed and present on the surface of the metal plate can be maintained with high accuracy in a short time.

  Further, in both the first embodiment and the second embodiment, the position and orientation information of the metal plate and the position of the ridge existing on the metal plate are measured in advance using the indoor position measurement system. A grinding device that determines a scanning pattern of a grinding device (grinding stone) that scans the surface of a metal plate based on a corresponding grinding position, and a grinding position and a path corresponding to a predetermined pattern, and achieves the scanning path. Since the target position of the actuator and the carriage that scans the vehicle can be determined, it is possible to cope with various scraping ranges. In particular, the position of the carriage can be controlled so that the deviation between the target position and the current position based on the navigation receiver is less than the allowance for the towing. Can respond.

  Furthermore, the cart that travels on the metal plate surface has four wheels that can be rotated forward and backward, a drive unit is provided corresponding to each wheel, and a drive motor that rotates each wheel and a cart are provided. It is composed of a turning motor that can turn the wheel 90 ° or more around an axis that is perpendicular to the traveling metal plate surface and that is offset toward the center of the carriage with respect to the wheel. In addition, it is possible to move diagonally and horizontally while maintaining the direction of the front of the carriage, and further turn on the spot. Fine position adjustment is possible, and straightness with respect to the target travel route can be made extremely high.

  Further, when grinding the metal plate 10 or the like having a scale such as black skin on the surface, in the operation of scanning the grinding device 35 (grinding stone 36) in a uniaxial direction along the metal plate surface, the forward movement (one direction D1) and By scanning the retreating (opposite direction D2) alternately and scanning the grinding device 35 (grinding stone 36) in one direction D1 as a whole, the scale such as black skin peels off during grinding, and the grinding stone 36 It is possible to suppress clogging of the grindstone 36 caused by adhering to the surface. For this reason, it is possible to prevent troubles caused by clogging, and spillage and clogging caused by clogging.

  The present invention can be variously modified without being limited to the above embodiment. For example, in the said embodiment, although shown about the example which provided four wheels in the trolley | bogie, the number of wheels is not restricted to four, What is necessary is just two or more. Also, the number of navigation receivers in the indoor position measurement system 200 to which the self-propelled towing device 300 of the first embodiment is applied, and the self-propelled towing device 300 ′ of the second embodiment are applied. The number of reflectors in the indoor position measurement system 200 ′ may be one or more. Further, in the above embodiment, the electromagnet is provided as the attracting means. However, the attracting means is not limited to the electromagnet. For example, the attracting means has a mechanism for changing the orientation of the permanent magnet and the permanent magnet, and changes the orientation of the permanent magnet. It is also possible to use a mechanism that switches between an adsorbing state and a non-adsorbing state, a vacuum adsorbing mechanism to a steel plate surface comprising a negative pressure air source and an adsorbing resin pad, and the like. Furthermore, although the thick steel plate was illustrated as a metal plate, it is not restricted to this, It can apply to a various metal plate.

10 Metal plate 11 Transmitter for navigation 11 'Reflector 12 Receiver for navigation 12' Transmitter for navigation (laser triangulation)
DESCRIPTION OF SYMBOLS 13 Host computer 14 Carriage 15 Scattering equipment 16 Current position calculation software 17 Setting / evaluation software 21 Installed computer 24 Scanning actuator 26 Wheel 27 Wheel motor 27a Drive motor 27b Turning motor 28 Lifting actuator 35 Grinding device 36 Grinding stone 40 Electromagnet 71 Grinding stone 72 Bonding material (bond bridge)
73 Shavings 74 Black skin 100, 100 'Overall system 200, 200' Indoor position measurement system 300, 300 'Self-propelled scraper

Claims (14)

A self-propelled screeding device that scoops the surface of a metal plate using an indoor position measurement system that recognizes the reed position of the metal plate based on the principle of triangulation and performs self-position measurement in an indoor space. ,
A carriage that has at least two wheels capable of normal rotation and reverse rotation and a drive unit that drives the wheels, and travels on a metal plate surface;
A navigation signal transmitter or a navigation signal receiver that is mounted on the carriage, constitutes the indoor position measurement system, and transmits or receives an indoor position measurement system signal;
A grinding apparatus for removing wrinkles on the metal plate provided on the carriage;
Based on the information on the eyelid position recognized using the indoor position measuring system, the target position range is taught, and the deviation of the self position recognized using the indoor position measuring system signal from the target position is calculated. A control means for instructing the drive unit to rotate forward, reverse, and stop the wheel according to the deviation, and causing the carriage to autonomously travel to a predetermined target position ;
An actuator unit having at least a scanning actuator that scans the grinding device in a uniaxial direction along the metal plate surface;
A control unit for controlling the actuator unit;
Comprising
The control unit controls the scanning actuator in conjunction with the control of the control means for autonomously running the carriage or independently of the control of the control means for autonomously running the carriage,
The grinding apparatus has a grindstone for grinding in contact with a metal plate to be scraped,
The actuator unit has a lifting actuator that moves the grinding device in the normal direction of the metal plate so that the pressing pressure of the grindstone against the metal plate can be controlled.
The grindstone is formed in a disk shape by combining a plurality of abrasive grains with a binder, and the control unit moves the grinding device in a uniaxial direction along the metal plate surface by the scanning actuator of the actuator unit. The self-propelled scraping device characterized by controlling the scanning actuator so that the grinding device repeats forward and backward in the scanning operation .   The indoor position measurement system is an IGPS, and a navigation receiver mounted on the carriage receives a rotating fan beam emitted from one or more navigation transmitters of the IGPS, and the rotating fan beam is transmitted to the IGPS. 2. The self-propelled scooping device according to claim 1, which is recognized as an IGPS signal as an indoor position measurement system signal.   The indoor position measurement system uses a laser triangulation technique, and is configured as a laser triangulation in which a navigation transmitter mounted on the carriage has a function of projecting and receiving a laser. The self-propelled scooping device according to claim 1, wherein the self-propelled scooping device is reflected by one or more reflectors and receives reflected light as the indoor position measurement system signal. The self-propelled type according to any one of claims 1 to 3 , wherein the control unit controls the elevating actuator independently of the control of the control means for autonomously driving the carriage.疵 device. The cart has four wheels that can be rotated forward and backward, and the drive unit is provided corresponding to each wheel, and a first drive system that rotationally drives the wheels, and the cart has And a second drive system capable of turning the wheel by 90 ° or more around an axis that is orthogonal to the traveling metal plate surface and is offset toward the center of the carriage with respect to the wheel. The self-propelled scooping device according to any one of claims 1 to 4 . 2. The apparatus according to claim 1, further comprising an adsorbing unit that adsorbs the carriage to the metal plate and suppresses displacement of the carriage due to a reaction force of the grinding device when the metal plate surface is scraped. The self-propelled scissor device according to any one of 5 . The self-propelled scissor device according to claim 6 , wherein the attracting means is an electromagnet. A self-propelled scoring method for scoring the surface of a metal plate using an indoor position measurement system that recognizes the position of the reed of the metal plate based on the principle of triangulation and performs self-position measurement in an indoor space. ,
A navigation signal transmitter that constitutes the indoor position measurement system and transmits or receives an indoor position measurement system signal to a cart that travels on a metal plate surface by driving at least two wheels capable of normal rotation and reverse rotation by a drive unit. Or, equipped with a navigation signal receiver and a grinding device that removes wrinkles of the metal plate,
Recognizing heel position information using the indoor position measurement system, teaching a target heeling range based on the heel position information, and recognizing the target position of the self position recognized using the indoor position measurement system signal The wheel is autonomously driven to a predetermined target position by instructing the drive unit to perform normal rotation, reverse rotation, and stop according to the deviation, and the grinding device is used to calculate the deviation from the metal plate surface. There row flaws up,
In conjunction with the control for autonomously running the carriage or independently of the control for autonomously running the carriage, at least, the grinding apparatus is scanned in a single axial direction along the metal surface, and the scraping is performed.
Moving the grinding device in the normal direction of the metal plate so that the pressing pressure of the grinding wheel of the grinding device against the metal plate can be controlled,
The grindstone is formed in a disk shape by combining a plurality of abrasive grains with a binding material, and the grinding device moves forward and backward in an operation of scanning the grinding device in a uniaxial direction along the metal plate surface. A self-propelled scooping method characterized by controlling the scanning actuator to repeat . The indoor position measurement system is an IGPS, and a navigation receiver mounted on the carriage receives a rotating fan beam emitted from one or more navigation transmitters of the IGPS, and the rotating fan beam is transmitted to the IGPS. The self-propelled scooping method according to claim 8 , wherein the self-propelled scooping method is recognized as an IGPS signal as an indoor position measurement system signal. The indoor position measurement system uses a laser triangulation technique, and is configured as a laser triangulation in which a navigation transmitter mounted on the carriage has a function of projecting and receiving a laser. 9. The self-propelled scooping method according to claim 8 , wherein the reflected light is reflected by one or more reflectors and received as the indoor position measurement system signal. The movement of the said grinding apparatus to the normal line direction of the said metal plate is controlled independently of the control which makes the said trolley drive autonomously , The any one of Claims 8-10 characterized by the above-mentioned. Self-propelled dredging method. The carriage has four wheels that can be rotated forward and backward, and the drive unit rotates the wheels, is orthogonal to a metal plate surface on which the carriage travels, and is a carriage with respect to the wheels. The self-propelled scraping method according to any one of claims 8 to 11 , wherein the wheel can be turned by 90 ° or more around an axis offset to a center side. Said dolly is adsorbed on the metal plate, any of claims 12 to claim 8, wherein suppressing the positional displacement of the bogie due to the reaction force of said grinding device when flaws up of the metal plate surface The self-propelled scooping method according to item 1. The self-propelled scraping method according to claim 13 , wherein the carriage is attracted to the metal plate by an electromagnet.