JP7144991B2 - Autonomous mobile device, autonomous mobile program and position estimation system - Google Patents

Description

The present invention relates to an autonomous mobile device, an autonomous mobile program, and a position estimation system, and more particularly to an autonomous mobile device, an autonomous mobile program, and a position estimation system that autonomously move within a construction site of a building.

Conventionally, some autonomous mobile robots use an optical distance sensor to detect the azimuth and distance to a target object in the work environment, acquire 3D point cloud data, and then use the work environment stored in advance. It is known to estimate the self-position by comparing the position information of the target object in the map information in the map information and the actual position information of the target object in the 3D point cloud data (for example, Patent Document 1, 2).

The autonomous mobile device of Patent Literature 1 discloses estimating its own position using both image data captured by a camera and range data (three-dimensional shape data) acquired by a distance sensor.
Specifically, the reliability of the self-position estimation from image data and the self-position estimation from range data is determined according to the surrounding environment, and the final self-position is determined based on the determined reliability. It is With the above configuration, the accuracy of self-position estimation can be ensured under various environments.

In the autonomous mobile marking robot of Patent Document 2, the current position of the construction site is detected by measuring the position of the pillar at the construction site using the distance measurement sensor mounted on the robot, and marking is performed from there. Moving to a location and drawing a marking line is disclosed.
With the above configuration, it is possible to save labor in the marking work at the construction site.

Japanese Patent Application Laid-Open No. 2007-322138 Japanese Patent Application Laid-Open No. 8-1552

By the way, at a building construction site, the dimensional accuracy required for each part differs depending on the part of the building (especially the frame of the building) and the use of the building (rooms of the building). Therefore, different dimensional errors occur for each building.
In order to accurately estimate the self-position within such a construction site, it was necessary to specify the target part of the distance sensor in consideration of the circumstances unique to the construction site.
For example, since the dimensional error can be absorbed by the subsequent interior finishing, the portion inside the outer wall is not suitable as the target portion of the distance sensor because the required dimensional accuracy is not high. In addition, since the surface of a portion such as a heat insulating material attached to the inner wall has relatively large unevenness, this is also not suitable as a target portion of the distance sensor.
For example, depending on the purpose of each room (including customer requests), if it is a store-type shop, the dimensional accuracy of the partition should be prioritized over the parts such as pillars and outer walls, and if it is a convenience store, the parts around the entrance It is also conceivable to design with priority given to the dimensional accuracy of
Therefore, from a different point of view from the autonomous mobile devices disclosed in Patent Documents 1 and 2, an autonomous mobile device capable of estimating its own position with high accuracy while considering the circumstances unique to the building construction site as described above. was sought.

In addition, at the construction site of the building, labor saving of various work (especially marking work) and reduction of human error have been raised as challenges. There has been a demand for an autonomous mobile device that can even carry out unloading work.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to make it possible to accurately estimate a self-position within a building construction site, taking into consideration the circumstances unique to a building construction site. An object of the present invention is to provide an autonomous mobile device, an autonomous mobile program, and a position estimation system.
Another object of the present invention is to provide an autonomous mobile device, an autonomous mobile program, and a position estimation system that are capable of accurately estimating the self-position and performing marking work at a building construction site. That's what it is.

According to the autonomous mobile device of the present invention, the autonomous mobile device moves autonomously within a construction site of a building, and detects the shape of a plurality of target portions existing within the construction site of the building. a shape data acquisition unit that acquires shape data of the plurality of target regions based on the detection results; a position of the reference target portion included in the drawing data; and the actual reference target in the shape data acquired by the shape data acquisition unit. and a self-position estimating unit that estimates the self-position within the construction site based on the result of collation with the position of the part.
With the above configuration, it is possible to realize an autonomous mobile device capable of accurately estimating its own position within a building construction site, taking into consideration the circumstances unique to the construction site.
More specifically, in the autonomous mobile device of the present invention, a reference target portion is specified based on information regarding dimensions of each of a plurality of target portions in a building. Therefore, it takes into consideration the circumstances unique to the construction site, that is, the circumstances in which different dimension information is generated for each building at each construction stage.

At this time, the information about the dimensions is a dimensional tolerance, and the target part identifying unit refers to the drawing data including the dimensional tolerance of each of the plurality of target parts of the building , It is preferable to specify the reference target portion from among the target portions based on the dimensional tolerance.
With the above configuration, the drawing data including the dimensional tolerance of the building is referred to, and the reference target portion is specified based on the dimensional tolerance from among the plurality of target portions present in the construction site. Therefore, it takes into consideration the fact that different dimensional tolerances occur for each building at each construction stage.

At this time, it is preferable that the target portion specifying unit specifies at least the target portion having the smallest dimensional tolerance among the plurality of target portions as the reference target portion.
With the above configuration, the autonomous mobile device is capable of estimating its own position with higher accuracy within the construction site of the building.

At this time, the information about the dimensions is a dimensional error, and the target part specifying unit determines the It is preferable to specify at least the target portion having the smallest dimensional error from among the plurality of target portions as the reference target portion.
With the above configuration, the reference target portion is specified from among the plurality of target portions based on the dimensional errors of each of the plurality of target portions existing within the construction site. Therefore, it takes into consideration the fact that different dimensional errors occur for each building at each construction stage.

At this time, a marking unit for marking a marking line within the construction site of the building, and a marking unit for detecting the actual marking position of the marking line based on the self-position estimated by the self-position estimating unit. A position detection unit and a marking execution unit that controls the marking unit so as to mark the marking position detected by the marking position detection unit with a marking line may be provided.
Further, the marking position detection unit detects the difference between the marking positions included in the drawing data including the marking positions of the marking lines in each construction stage of the building and the self-position estimated by the self-position estimation unit. It is preferable to detect the actual marking position based on the collation result.
With the above configuration, it is possible to realize an autonomous mobile device capable of estimating its self-position with high accuracy and performing marking work at a construction site of a building.

At this time, the positions of the plurality of target portions in the room included in the drawing data including the plurality of rooms in the building and the actual positions of the plurality of target portions in the shape data are determined for each room. It is preferable to provide a room determination unit that performs collation and determines a room from among the plurality of rooms based on the relevance rate of the plurality of target parts.
With the above configuration, even if there are multiple rooms with similar layouts in the building, it is possible to accurately determine the target room from among the multiple rooms in the drawing data. On the other hand, it is possible to estimate its own position and proceed with construction work such as marking work.

In addition, a computer as an autonomous mobile device that autonomously moves within a construction site of a building, based on the detection result of detecting the shape of a plurality of target portions existing in the construction site of the building, detects the shape of the plurality of target portions. A shape data acquisition process for acquiring shape data, and a target for identifying a reference target portion from among the plurality of target portions by referring to previously created drawing data and based on information on dimensions of each of the plurality of target portions. Based on the site identification process, the position of the reference target part included in the drawing data, and the actual position of the reference target part in the shape data acquired by the shape data acquisition process, the construction site It is also possible to realize an autonomous mobile program that executes a self-position estimation process for estimating the self-position within.

Also, a position estimation system for estimating the position of an autonomous mobile device that autonomously moves within a construction site of a building, wherein the detection detects the shape of a plurality of target portions existing within the construction site of the building. a shape data acquisition unit for acquiring shape data of the plurality of target regions based on the results; A target part specifying unit that specifies a reference target part from among parts, a position of the reference target part included in the drawing data, and an actual reference target part in the shape data acquired by the shape data acquisition unit A position estimation system including a position estimation unit that estimates the position of the autonomous mobile device within the construction site based on the result of matching with the position can also be realized.

ADVANTAGE OF THE INVENTION According to the autonomous moving apparatus, the autonomous moving program, and the position estimation system of the present invention, it is possible to accurately estimate the self-position within the construction site, taking into account the circumstances unique to the construction site of the building.
In addition, at a construction site of a building, it is possible to accurately estimate the self-position and perform the marking work.

It is a block diagram of the whole position estimation system of this embodiment. It is a software configuration diagram of an autonomous mobile device and a data server. It is a figure which shows an example of the "drawing data" in the room of a building. It is a figure which shows an example of the "actual construction situation" in the room of a building. It is a figure which shows an example of the "shape data (point cloud data)" in the room of a building. It is a figure explaining the process by a room determination part. It is a figure explaining the process by a self-position estimation part, and a marking line marking process. It is a flow figure showing an example of processing of an autonomous movement program of this embodiment.

An embodiment according to the present invention will be described below with reference to FIGS. 1 to 8. FIG.
This embodiment is an autonomous mobile device that performs marking work after estimating its own position within a construction site of a building, and stores drawing data that has been created in advance and includes the dimensional tolerance of the building. Detect the shape of multiple target parts existing in the construction site of the building, acquire the shape data (point cloud data) of the multiple target parts based on the detection results, and refer to the drawing data to determine the shape of the building Based on the dimensional tolerance of each of the multiple target parts, the reference target part is specified from among the multiple target parts, and the position (coordinate position) of the reference target part included in the drawing data and the actual reference target part in the shape data The present invention relates to an invention characterized by estimating one's own position within a construction site based on the result of collation with the position (coordinate position) of .

FIG. 1 shows the configuration of the entire position estimation system S including the autonomous mobile device 1 according to this embodiment.
The position estimation system S is connected to the autonomous mobile device 1 used when performing self-position estimation and marking work in the construction site of the building, and the autonomous mobile device 1 through a network, and stores various programs and data. The data server 100 is mainly configured.
"Self-position estimation" is the current location of the device (robot) itself, which direction it is facing, how fast it is running, etc. It means estimating the state by referring to various sensor data.
In addition, "marking work" means the work of marking a reference line (marking line) that indicates the reference position of various construction work on the floor, wall, ceiling, etc. at a building construction site. There are basic markings, frame markings, finishing markings, etc. The reference line is used for the subsequent work of installing building members and the work of installing appliances such as air conditioners and electrical equipment.

The autonomous mobile device 1 is a robot that autonomously moves on the floor in the construction site and marks a marking line on the floor while estimating its own position. The latest programs and data stored in the server 100 can be read and stored.
The data server 100 mainly functions as a master server for managing and storing various programs and data for executing self-position estimation work and marking work, and also manages and stores design drawing data. It has a function as a management server for keeping

<Hardware Configuration of Autonomous Mobile Device 1>
As shown in FIG. 1, the autonomous moving device 1 mainly includes a distance sensor 2, a moving unit 3, a marking unit 4, a driving unit 5, and a processor 6 for executing various calculations and controls. are attached to the main body of the robot.
Note that the marking unit 4 corresponds to a marking section in the claims.

The distance sensor 2 is a laser sensor attached to the upper end of the main body of the robot. It measures the distance between
Specifically, the distance sensor 2 detects the shape of the target portion by measuring the distance to the target portion existing in the construction site, and creates shape data of the target portion based on the detection result. is.
"Shape data" means two-dimensional point cloud data based on two-dimensional distance information of the target part in this embodiment, but it may of course be three-dimensional distance information (three-dimensional point cloud data).
Note that the distance sensor 2 is not particularly limited to a laser sensor, but may be an acceleration sensor (gyro sensor), a magnetic sensor, a radar sensor that measures the distance to a target object using radio waves, or an optical sensor in the construction site. A camera sensor or the like that acquires information may be used.

The moving unit 3 (moving part) is mainly composed of a pair of drive wheels for moving the robot body in two-dimensional directions and auxiliary wheels (not shown), and is attached to the side of the robot body. . The robot main body can be moved by receiving driving power from the drive unit 5 and rotating.
Although the moving unit 3 is assumed to be a driving wheel, it is not particularly limited, and a known driving means such as a driving crawler may be adopted.
Further, although the moving unit 3 is assumed to be a two-dimensional moving unit in this embodiment, it is not particularly limited, and a unit capable of moving in three-dimensional directions by a known mechanism may be adopted. Also good.

The marking unit 4 (marking section) has a mechanism for marking a marking line by an inkjet method, and is attached to the lower end of the robot body. can be marked.
The marking unit 4 is not particularly limited to the ink jet method, and may mark a marking line on the floor surface by directly contacting the tip of the pen with the floor surface and moving in the horizontal direction. may be used to mark the marking lines by dripping.
The driving unit 5 (driving section) is a motor for driving various units, is attached inside the robot main body, and operates based on driving commands received from the processor 6 .

The processor 6 mainly includes a CPU as a data arithmetic and control processing device, ROM, RAM and HDD as storage devices, and a communication interface for transmitting and receiving information data via a home network or the Internet. be.
The autonomous mobile device 1 further includes a display device for displaying text or image information, an input device operated by a user when inputting a predetermined command to the CPU, and an external storage device such as an external hard disk. It's okay to be prepared.
As shown in FIG. 2, these ROM, HDD, and external storage store a main program that performs necessary functions as a computer, as well as a self-position estimation program and a marking line marking program. The functions of the autonomous mobile device 1 are exhibited by executing the program by the CPU.
The data server 100 is a computer having a similar hardware configuration.

<Software configuration of autonomous mobile device 1>
As shown in FIG. 2, the autonomous mobile device 1 is functionally composed of a storage unit 10 that reads previously created drawing data, various programs, and various data from a data server 100 and temporarily stores them. , a detection execution unit 11 that controls the distance sensor 2 so as to detect the shape of the target part existing in the construction site, a shape data acquisition unit 12 that acquires shape data created by the detection result of the distance sensor 2, A room that matches the position of the target part in the room included in the drawing data with the actual position of the target part in the shape data for each room, and determines the room from among multiple rooms based on the matching rate of the target part. A determining unit 13, a target part identifying unit 14 that identifies a reference target part from among a plurality of target parts by referring to drawing data, the position of the reference target part included in the drawing data, and the actual reference target in the shape data. A self-position estimating unit 15 for estimating the self-position within the construction site based on the result of collation with the position of the part is provided as a component.
In addition, the autonomous mobile device 1 detects the marking position of the actual marking line based on the self-position estimated by the self-position estimating unit 15, and the marking position detecting unit 16 detects the marking position. A marking execution unit 17 for controlling the marking unit 4 and the driving unit 5 is provided as a constituent element so as to execute the marking of the marking line with respect to the marking position.
These include a CPU, ROM, RAM, HDD, communication interface, various programs, and the like.
Note that the data server 100 will also be described from the functional aspect. 111 and a data receiving unit 112 as main components.

The "drawing data" stored in the storage unit 10 is, as shown in FIG. It has been prepared and prepared for each construction stage.
A "room" means a space separated by walls, partitions, or the like in a building, and may also mean a floor or the like consisting of one space or a plurality of spaces.
In this embodiment, drawing data representing a two-dimensional shape of a building is assumed. Also good.
Further, in the present embodiment, the design drawing and the dimensional tolerance information are collected and stored as one piece of drawing data, but the design drawing information and the dimensional tolerance information are not particularly limited. may be stored separately as separate data.

Among the "drawing data", the information related to the blueprint indicates the drawing at a given construction stage in a given room in the building, and the blueprint includes marking position information of the marking line. .
Specifically, information on a building, information on a room in the building, and information on the construction stage of the room are associated with each other.
Looking at this embodiment in FIG. 3, building ID "001", building name "A building", room ID "201", room name "2nd floor B store", construction stage "interior finish marking", etc. is shown in advance. Further, in the design drawing, construction positions of pillars and outer walls and marking positions of marking lines are shown as parts of the skeleton of the building.
Here, the marking position of the marked line is the reference line for the next process of "interior finishing" (at the stage where the previous process "exterior wall installation" has already been completed).

Among the "drawing data", the information about the dimensional tolerance is a data table showing the dimensional tolerance of each part of the building, and is associated with the information about the blueprint.
Specifically, in the drawing data, ID numbers, part names, and dimensional tolerances of parts of a building are associated with each other.
Here, "dimensional tolerance" is the difference between the standard (construction standard) dimension value (construction dimension value) and the allowable marginal dimension value (construction dimension value). It indicates the allowable range when a construction error occurs (construction dimensional tolerance).
Looking at this embodiment in FIG. 3, the ID "001" in the part of the building, the part name "pillar", the dimensional tolerance "±3 (mm)", the ID "002", the part name "outer wall" A dimensional tolerance of "±6 (mm)" or the like is shown in advance.
In other words, in this embodiment, it can be seen that the "column" has the smallest dimensional tolerance among the plurality of target parts.
In addition, when specifying the part with the smallest dimensional tolerance, while the maximum and minimum dimensional tolerances are symmetrical in the above "pillar" and "outer wall", the maximum and minimum dimensional tolerances are asymmetrical in the specified part. , the portion with the smallest dimensional tolerance may be specified based on the dimensional tolerance (difference between the maximum value and the minimum value defined in terms of dimensions), for example.

The detection execution unit 11 operates the distance sensor 2 so as to detect the shape of a target part existing in the construction site of the building.
The shape data acquisition unit 12 acquires shape data of a plurality of target parts created based on the detection results of the distance sensor 2 . Hereinafter, description will be made with reference to FIG. 4 as an example.
"Actual construction status" shown in FIG. 4 indicates the construction status of the room at the time when the installation work of the pillars and outer walls is completed as the construction stage.
In the room of this example, it can be seen that the four pillars were constructed according to the design drawing shown in FIG. 3 in comparison with the outer wall. On the other hand, among the plurality of outer walls, it can be seen that the outer walls attached outside the corners and around the opening are constructed in a slightly inclined manner compared to the drawing.
The shape data acquisition unit 12 detects the shape of four pillars (inside the pillars) and the shape of nine outer walls (inside the outer wall) as target parts in the construction situation of the room shown in FIG. Shape data (point cloud data) of these target parts are acquired. The shape data is shown in FIG.

The room determination unit 13 compares the position of the target part in the room included in the "drawing data" shown in FIG. 3 with the actual position of the target part in the "shape data" shown in FIG. 5 for each room, A room is determined from a plurality of rooms based on the matching rate of the target part.
Specifically, as shown in FIG. 6, the room determination unit 13 first digitally processes the acquired shape data (point cloud data) of the room, and determines the points of the detected point cloud data that are closest to each other. are connected with a line.
Then, the "coordinate positions of the actual multiple target parts" in the processed shape data and the "coordinate positions of the multiple target parts in design" included in the drawing data prepared in advance are superimposed for each room. A room is determined which has the highest matching rate for a plurality of target parts when they are collated and superimposed.
It should be noted that the matching rate value can be obtained, for example, by calculating a superimposition error (projection error) between target parts when their coordinate positions are superimposed on each other.

The target portion identifying unit 14 refers to the “drawing data” shown in FIG. 3 and identifies a reference target portion based on the dimensional tolerance (information on dimensions) from among a plurality of target portions present in the construction site.
In this embodiment shown in FIG. 3, the target part specifying unit 14 selects the "column", which is the target part with the smallest dimensional tolerance, from among the "column" and the "outer wall" as the plurality of target parts. specified as.
The "target part" can be any part that exists within the construction site, such as the framework and interior materials of the building, as well as heat insulating materials, air conditioning, electrical equipment, and other fixtures.

The self-position estimating unit 15 determines the position of the reference target part included in the "drawing data" shown in FIG. 3 and the actual position of the reference target part in the "shape data" shown in FIG. Estimate self-position in the field.
Specifically, as shown in FIG. 7, first, the “coordinate position of the target portion” included in the drawing data and the “coordinate position of the actual target portion” included in the shape data (point cloud data) are superimposed. Perform matching processing. After that, ignore the member "outer wall (inside the outer wall)" with relatively large dimensional tolerance, and collate the member "column (inside the column)" with the smallest dimensional tolerance as the reference target part, and check the result The self-position is estimated based on
To explain in detail, for example, when a "pillar" is specified as a reference target part in FIG. Assume that the autonomous mobile device is located at a position 2000 mm away in the lateral direction). At that time, it is assumed that the predetermined "pillars" were actually constructed with an error of 2 mm apart from the center of the room in each of the vertical and horizontal directions.
In that case, the self-position estimation unit 15 actually estimates a position 1002 mm in the north-south direction and 2002 mm in the east-west direction from the predetermined "pillar" as the self-position.

The marking position detection unit 16 detects the actual marking position of the marking line based on the self-position estimated by the self-position estimation unit 15 .
Specifically, the actual marking position is determined based on the collation result between the "marking coordinate position" included in the drawing data shown in FIG. Detecting.
After that, the marking execution unit 17 controls the marking unit 4 and the drive unit 5 so as to mark the marking position detected by the marking position detection unit 16 as a marking line, as shown in FIG. .
In this embodiment, it can be seen that rectangular marking lines are marked on the floor surface of the room.
To explain in detail, for example, when "pillars" are specified as reference target parts in FIG. Suppose you need to mark. At that time, it is assumed that the predetermined "pillars" were actually constructed with an error such that they were separated from the center of the room by 1 mm each in the north-south and east-west directions.
In that case, the marking execution unit 17 marks the marking lines at positions separated by 10 mm from each "pillar" on the drawing, but in reality, the predetermined "columns" are marked at positions separated by 11 mm. You will be marking the inking lines.

<Autonomous movement program>
Next, processing of an autonomous movement program (including a marking line marking program) executed by the autonomous movement device 1 will be described based on FIG.
The program according to the present embodiment includes the detection execution unit 11, the shape data acquisition unit 12, the room determination unit 13, and the target part as functional components of the autonomous mobile device 1 having the storage unit 10. A utility program that integrates various programs to realize the identifying unit 14, the self-position estimating unit 15, the marking position detecting unit 16, and the marking executing unit 17, and the CPU of the autonomous mobile device 1 Run the localization program.
Note that the above program is executed upon receiving a work instruction from a worker.

In the "autonomous movement processing flow" shown in FIG. starts from step 1 (STEP 1) of detecting the shape of .
The storage unit 10 of the autonomous mobile device 1 stores "drawing data" shown in FIG. 3 received from the data server 100 in advance. The drawing data includes information on a two-dimensional design drawing and information on dimensional tolerances, and is created for each room in a building and for each construction stage.

Next, in step 2 , the shape data acquisition unit 12 acquires “shape data” of a plurality of target parts created based on the detection results of the distance sensor 2 .
The shape data is two-dimensional point cloud data based on two-dimensional distance information of a plurality of target parts, as shown in FIG.

Next, in step 3, the room determination unit 13 determines the coordinate positions of the plurality of target parts in the room included in the "drawing data" shown in FIG. The coordinate position of the target part is collated for each room. Then, a predetermined room is determined from a plurality of rooms based on the relevance rate of the target part (step 4).
More specifically, when the origins and axes of the coordinate positions are superimposed on each other and collated, the room showing the highest matching rate between the plurality of target parts is determined.

Next, in step 5, the target part identification unit 14 refers to the "drawing data" shown in FIG. 3, and identifies a reference target part based on the dimensional tolerance from among a plurality of target parts present in the construction site. do. Specifically, the target portion with the smallest dimensional tolerance is specified as the reference target portion.

Next, in step 6, the self-position estimator 15 determines the coordinate position of the reference target part contained in the "drawing data" shown in FIG. 3 and the actual coordinate position of the reference target part in the "shape data" shown in FIG. to match. Then, based on the collation result, the self-position within the construction site is estimated (step 7).
Specifically, members with relatively large dimensional tolerances are excluded in advance, and members with the smallest dimensional tolerances are collated as reference target portions, and the self-position within the construction site is estimated based on the collation results.

Next, in step 8, the marking position detection unit 16 detects the actual marking position of the marking line based on the self-position estimated by the self-position estimation unit 15. FIG.
Specifically, the actual marking position is detected based on the collation result between the "marking coordinate position" included in the drawing data shown in FIG. is doing.
Finally, in step 9, the marking execution unit 17 controls the marking unit 4 and the driving unit 5 so as to mark the marking position as a target for the marking line, as shown in FIG. In this embodiment, rectangular marking lines are marked on the floor surface of the room.

The process of FIG. 8 is completed through steps 1 to 9 above.
According to the processing flow of the above-described autonomous movement program, it is possible to accurately estimate the self-position within the building construction site, taking into consideration the circumstances unique to the building construction site.
In addition, at a construction site of a building, it is possible to accurately estimate the self-position and perform the marking work.

<Other embodiments>
In the above embodiment, the device is used to perform "marking work", but it is not particularly limited to marking work. , installation of partitions, brickwork in partitions). In addition, the present invention can be widely applied to construction work that can be performed by a work device (work robot) after estimating its own position.
In the case of performing the measurement work and the mounting work as described above, the autonomous mobile device 1 may further include a construction unit such as a known robot arm. The construction unit is preferably driven by the drive unit 5 and executed by the control of the processor 6 .

In the above-described embodiment, the device is used to perform "marking work on the floor surface", but the device is not limited to the floor surface, and is a device for marking a marking line on a wall surface, a ceiling surface, or the like. It can be.
In the above case, although the moving unit 3 is a two-dimensional moving unit, it is preferable to employ a unit that can move three-dimensionally by a known mechanism instead.
Moreover, it is preferable that the autonomous mobile device 1 further includes a construction unit such as a known robot arm, and the marking unit 4 is attached to the tip portion of the robot arm.

In the above embodiment, the "object part with the smallest dimensional tolerance" is specified as the reference object part, but there is no particular limitation. You may specify as a part.
Alternatively, in addition to the dimensional tolerance, other judgment criteria (use of the building, customer's request, construction period (season), etc.) may be combined for specification. Furthermore, a plurality of reference target parts may be specified.

In the above embodiment, the reference target part is specified based on the "dimensional tolerance", but without any particular limitation, the reference target part can be specified based on the "dimensional error" as the "dimensional information". Also good.
Here, the "dimensional error" is a value obtained by subtracting a dimension value (construction dimension value) serving as a reference (construction standard) from a dimension value (construction dimension value) measured after actual construction.
For example, the target part identification unit 14 identifies the reference target part from among the plurality of target parts based on the actual dimensional error of each of the plurality of target parts obtained by comparing the drawing data and the shape data (matching result). It is good to do. In that case, it is desirable to specify the "object part with the smallest dimensional error" as the reference object part.
Specifically, in FIG. 3, when the actual dimensional error of the "pillar" is 2 mm and the dimensional error of the "outer wall" is 1 mm, the target site identification unit 14 selects The "outer wall" is specified as the reference target portion.

In the above-described embodiment, the autonomous mobile device 1 is configured to include the distance sensor 2 that uses laser light, but it can be changed without being limited to the distance sensor.
For example, an acceleration sensor (gyro sensor) that measures the acceleration (gravitational acceleration) of the target object may be employed, or a magnetic sensor that measures the magnitude and direction of the target magnetic field (magnetic field) may be employed.

In the above embodiment, the position estimation system S is composed of the autonomous mobile device 1 and the data server 100, but is not particularly limited, and a known light wave measuring device (light wave ranging It is also possible to adopt a system configuration further including a device.
In that case, the distance sensor 2 by the autonomous mobile device 1 and this light wave measuring device may be used together. Alternatively, the autonomous mobile device 1 may not include the distance sensor 2, and instead acquire (receive) shape data based on the detection result from the light wave measuring device.

In the above-described embodiment, the position estimation system S is mainly composed of the autonomous mobile device 1 and the data server 100, and the autonomous mobile device 1 has the main functions of the detection execution unit 11, the shape data acquisition unit 12, the room Although the determining unit 13, the target part identifying unit 14, the self-position estimating unit 15, the marking position detecting unit 16, and the marking executing unit 17 are provided as constituent elements, they can be changed as appropriate without being limited to them.
For example, the data server 100 has a main function, and the autonomous mobile device 1 receives various execution programs and execution data from the data server 100 to estimate its own position and perform marking work. It is good as
Specifically, the data server 100 includes a storage unit 110, a data transmitting unit 111, a data receiving unit 112, a shape data obtaining unit 12, a room determining unit 13, a target part, and a storage unit 110 for storing drawing data created in advance. The identifying unit 14 and the position estimating unit 15 are included, while the autonomous mobile device 1 may include the detection executing unit 11, the data transmitting unit, and the data receiving unit.
In that case, the autonomous mobile device 1 transmits the detection result data obtained by the detection execution unit 11 to the data server 100, and then executes data for estimating the position of the autonomous mobile device 1 from the data server 100, It is preferable to adopt a configuration for receiving execution data for executing the marking work.
In the position estimation system S, which of the autonomous mobile device 1 and the data server 100 has the above-described functional components can be changed as appropriate.

In the above embodiments, the autonomous mobile device, the autonomous mobile program, and the position estimation system according to the present invention have been mainly described.
However, the above embodiment is merely an example for facilitating understanding of the present invention, and does not limit the present invention. The present invention can be modified and improved without departing from its spirit, and the present invention includes equivalents thereof.

S Position estimation system 1 Autonomous mobile device 2 Distance sensor 3 Mobile unit (moving part)
4 Marking unit (marking part)
5 drive unit (drive part)
6 processor 10 storage unit 11 detection execution unit 12 shape data acquisition unit 13 room determination unit 14 target part identification unit 15 self-position estimation unit (position estimation unit)
16 marking position detection unit 17 marking execution unit 100 data server 110 storage unit 111 data transmission unit 112 data reception unit

Claims (9)

An autonomous mobile device that autonomously moves within a construction site of a building,
A shape data acquisition unit that acquires shape data of the plurality of target portions based on detection results of shapes of the plurality of target portions existing in the construction site of the building;
a target part identification unit that identifies a reference target part from among the plurality of target parts by referring to drawing data created in advance and based on information on the dimensions of each of the plurality of target parts;
Based on the results of collation between the position of the reference target part included in the drawing data and the actual position of the reference target part in the shape data acquired by the shape data acquisition unit, the self-position in the construction site is determined. An autonomous mobile device, comprising: a self-position estimator for estimating. The dimensional information is dimensional tolerance,
The target portion specifying unit refers to the drawing data including the dimensional tolerance of each of the plurality of target portions of the building , and selects the reference target portion from among the plurality of target portions based on the dimensional tolerance. 2. The autonomous mobile device according to claim 1, characterized in that it specifies . 3. The autonomous mobile device according to claim 2, wherein the target part specifying unit specifies at least a target part having the smallest dimensional tolerance among the plurality of target parts as the reference target part. The information on the dimensions is a dimensional error,
The target part identifying unit selects a target part having the smallest dimensional error from among the plurality of target parts based on the dimensional errors of the plurality of target parts obtained by comparing the drawing data and the shape data. is specified as at least the reference target part. a marking unit for marking marking lines in the construction site of the building;
a marking position detection unit that detects the actual marking position of the marking line based on the self-position estimated by the self-position estimation unit;
and a marking execution unit that controls the marking unit so as to mark the marking position detected by the marking position detection unit as a target to mark the marking line. 5. The autonomous mobile device according to any one of 4. The marking position detection unit compares the marking positions included in the drawing data including the marking positions of the marking lines in each construction stage of the building with the self-position estimated by the self-position estimation unit. 6. The autonomous mobile device according to claim 5, wherein the actual marking position is detected based on. matching the positions of the plurality of target portions in the room included in the drawing data including the plurality of rooms in the building with the actual positions of the plurality of target portions in the shape data for each room; 7. The autonomous mobile device according to any one of claims 1 to 6, further comprising a room determination unit that determines a room from among the plurality of rooms based on the relevance rate of the plurality of target parts. . A computer as an autonomous mobile device that autonomously moves within the construction site of a building,
Shape data acquisition processing for acquiring shape data of a plurality of target portions based on detection results of shapes of the plurality of target portions existing in the construction site of the building;
a target part identification process for identifying a reference target part from among the plurality of target parts based on information on dimensions of each of the plurality of target parts with reference to drawing data created in advance;
Based on the result of checking the position of the reference target part included in the drawing data and the actual position of the reference target part in the shape data acquired by the shape data acquisition process, the self-position in the construction site is determined. An autonomous mobile program characterized by executing a self-position estimation process for estimating. A position estimation system for estimating the position of an autonomous mobile device that autonomously moves within a building construction site,
A shape data acquisition unit that acquires shape data of the plurality of target portions based on detection results of shapes of the plurality of target portions existing in the construction site of the building;
a target part identification unit that acquires drawing data created in advance , refers to the drawing data, and identifies a reference target part from among the plurality of target parts based on information on dimensions of each of the plurality of target parts; ,
The autonomous movement within the construction site based on the result of collation between the position of the reference target part included in the drawing data and the actual position of the reference target part in the shape data acquired by the shape data acquisition unit. and a position estimating unit that estimates the position of the device.

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