JP7369841B2 - Marking robot, marking robot system, and measuring robot - Google Patents

Description

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

During facility construction, marking work is performed. "Marking" refers to marking lines on the floor or wall of a building that serve as construction standards, such as the anchor positions of equipment to be installed, the anchor positions of ceiling-mounted equipment, and the mounting positions of incidental equipment. Say something. In equipment construction, workers install various equipment along marked lines, so it is important to mark marked lines accurately. In traditional marking work, a worker pulls out a thread containing ink from an inkpot, stretches the thread near the point where marking should be done (marking position), and flicks the thread to apply ink to the floor, wall, etc. This was done by attaching a lead line. At that time, the worker determined the marking position by stringing a string to connect multiple reference points. In such conventional marking work, the operator needs skill to mark out the correct marking position, and furthermore, there is a possibility that human errors may occur due to manual work.

Therefore, when marking out, the operator uses an optical measuring instrument to measure the exact marking position, and then marks out the marking position. As a result, a predetermined level of accuracy can be ensured even if the operator is not skilled in marking out. However, even with this type of marking work, the marking is still done manually by the worker, which requires a certain amount of man-hours and there is still the possibility of human error occurring. .

Therefore, in recent years, attempts have been made to use marking robots that autonomously run and perform marking work (for example, see Patent Document 1). According to the marking robot described in Patent Document 1, it is possible to save labor in marking work during equipment construction, and it is possible to prevent the occurrence of human errors associated with marking.

Japanese Patent Application Publication No. 2019-31901

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

For example, if multiple pieces of equipment are installed on an uneven or sloped floor, each piece of equipment cannot be installed horizontally, resulting in installation failures and rework. become. Furthermore, in a factory that manufactures products, if equipment is improperly installed, there is a possibility that an abnormality will occur in the production process. Therefore, in order to prevent rework (backward work) from occurring, the operator adjusts the height of the equipment using anchor bolts and spacers in accordance with the unevenness level of the floor surface.

In such height adjustment of equipment, it is necessary to measure in advance the unevenness level of the floor surface at the marking position. Regarding this point, the conventional marking robot described in Patent Document 1 did not have a function of measuring the unevenness level of the floor surface. Therefore, with conventional marking robots, when adjusting the height of equipment, it was necessary for the operator to manually measure the unevenness level of the floor surface at the marking position. Measuring the unevenness level of a floor surface requires a skilled worker and a lot of effort. This kind of work to measure the unevenness level of the floor surface is prone to errors when performed by unskilled workers. Sometimes delays occurred. Therefore, it has been desired that conventional marking robots automate the work of measuring the unevenness level of the floor surface at the marking position.

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

In order to achieve the above object, the present invention provides a marking robot, which includes: a running means that travels on a floor surface; a printing means that has a print head for printing on the floor surface; and a marking robot that detects the floor surface. a measurement target whose position is measured by a three-dimensional measurement means, a moving means for movably supporting the print head and the measurement target, and a control for controlling operations of the traveling means and the printing means. means, the control means causes the traveling means to travel to an arbitrary desired position, and at the desired position, after the floor surface is detected by the detection sensor in the moving means, the three-dimensional measurement is performed. The unevenness level of the floor surface is measured based on the position of the measurement target measured by the means, and the printing means prints unevenness level information representing the unevenness level on the floor surface.

Other means will be described later.

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

FIG. 1 is an overview diagram of a marking robot system according to an embodiment. FIG. 2 is a block diagram of a marking robot system. FIG. 2 is an overview diagram of a printer and a detection sensor. It is a side sectional view of a detection sensor. FIG. 6 is an overview diagram (1) of a modification of the detection sensor. FIG. 6 is an overview diagram (2) of a modification of the detection sensor. FIG. 7 is an overview diagram of a modification of the print head. FIG. 2 is an overview diagram of equipment installed on the floor of a building. FIG. 3 is an explanatory diagram of an example of adjusting the height of equipment using anchor bolts corresponding to the unevenness level of the floor surface. FIG. 3 is an explanatory diagram of an example of adjusting the height of equipment using spacers that correspond to the unevenness level of the floor surface. FIG. 3 is an explanatory diagram of printed information printed on a floor surface by a marking robot. FIG. 3 is an explanatory diagram (1) of unevenness level measurement when the marking robot is in a horizontal posture. FIG. 2 is an explanatory diagram (2) of unevenness level measurement when the marking robot is in a horizontal posture. FIG. 3 is an explanatory diagram (1) of calculating a tilt angle when the marking robot is in a tilted posture. FIG. 6 is an explanatory diagram (2) of calculating the tilt angle when the marking robot is in a tilted posture; FIG. 3 is an explanatory diagram (1) of calculating the height of the printing surface when the marking robot is in a tilted posture. FIG. 6 is an explanatory diagram (2) of calculation of the height of the printing surface when the marking robot is in a tilted posture; It is a flowchart (1) showing the operation of the marking robot. It is a flowchart (2) showing the operation of the marking robot. It is a flowchart (3) showing the operation of the marking robot. It is a flowchart (4) showing the operation of the marking robot. It is a flowchart (5) showing the operation of the marking robot. It is a flowchart (6) showing the operation of the marking robot. It is a flowchart (7) showing the operation of the marking robot. It is a flowchart (8) showing the operation of the marking robot.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention (hereinafter referred to as "this embodiment") will be described in detail below with reference to the drawings. Note that each figure is merely shown schematically to the extent that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated example. Further, in each figure, common or similar components are denoted by the same reference numerals, and redundant explanation thereof will be omitted.

[Embodiment]
<Configuration of marking robot system>
The configuration of the marking robot system S according to this embodiment will be described below with reference to FIGS. 1 and 2. The marking robot system S is a system for saving labor in marking work in equipment construction. FIG. 1 is an overview diagram of a marking robot system S according to this embodiment. FIG. 2 is a block diagram of the marking robot system S.

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

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

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

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

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

When performing marking work, the equipment construction worker, for example, operates the external device 30 to input each marking position (position where marking lines are to be marked) to the marking robot 10, and Instruct to start. Alternatively, the operator operates the touch panel display 13 provided on the marking robot 10, inputs each marking position to the marking robot 10, and instructs the marking robot 10 to start marking. Then, the marking robot 10 starts marking work.

The tracking type total station 20 tracks the directional prism 15 provided on the marking robot 10 and measures the position of the directional prism 15 in three-dimensional space. The marking robot 10 acquires position information of the directional prism 15 from the tracking type total station 20. Thereby, the marking robot 10 acquires its own current position information. The marking robot 10 moves to the marking position by appropriately repeatedly performing an operation of acquiring its own current position information and movement operations such as a turning operation, a straight movement, and a backward movement. Furthermore, in order to ensure a predetermined accuracy, the marking robot 10 performs position measurement within the range of the XY stage in the vicinity of the marking position, thereby positioning the marking line with high precision. The marking lines and desired information are printed using a printer 16. The marking robot 10 repeats these processes at each marking position.

Note that the marking line is a line drawn with an arbitrary length, such as a straight line or a cross line, and is used as position information representing an arbitrary desired position. In this embodiment, when printing (drawing) the marking line on the floor surface, the marking robot 10 prints unevenness level information representing the unevenness level of the floor surface near the marking line. Furthermore, when printing (drawing) the marking line on the floor surface, the marking robot 10 prints attribute information of the marking line near the marking line. For example, the marking robot 10 prints device information representing a device installed at a desired position as the attribute information of the marking line. The device information is characters, figures, symbols, etc. that represent the name and model number of the device to be installed.

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

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

A PC 14 is housed inside the storage case 12. The PC 14 is a control means that centrally controls the marking robot 10. When the PC 14 travels using the traveling actuator 17ac, the prism actuator 15ac rotates the directional prism 15 so that the directional prism 15 faces the tracking type total station 20.

A touch panel display 13 and indicator lights 191 to 193 are arranged above the storage case 12. The touch panel display 13 is a manual input means for an operator to manually input various information and operation instructions. The touch panel display 13 can be used not only to set the operation of the marking robot 10 but also to display and input various information. Preferably, the touch panel display 13 has a configuration that allows the arrangement angle to be changed (that is, the touch panel display 13 can be arranged at an arbitrary angle) and can be removed so as to improve operability. good. The indicator lights 191 to 193 are informing means for informing the outside of the state of the marking robot 10.

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

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

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

An opening 11op, which is rectangular in top view, is formed in a location in front of the storage case 12 of the frame 11. The inside of the opening 11op is a space in which the printer 16 and the detection sensor SN2 can move.

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

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

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

The detection sensor SN2 is a sensor that detects the floor surface. In the present embodiment, the detection sensor SN2 will be described as being constituted by a contact type touch sensor. The detection sensor SN2, which is a touch sensor, has a contact terminal facing the floor. The Z-axis actuator 16z supports the detection sensor SN2 so as to be movable in the Z-axis direction (vertical direction) together with the printer 16.

Printer actuator 16ac includes an X-axis actuator 16x, a Y-axis actuator 16y, and a Z-axis actuator 16z. The X-axis actuator 16x is a left-right moving means that slides and moves the printer 16 in the left-right direction (X-axis direction). The Y-axis actuator 16y is a front-back moving means that slides the printer 16 in the front-back direction (Y-axis direction). The Z-axis actuator 16z is a vertical movement means that slides and moves the printer 16 in the vertical direction (Z-axis direction). In this embodiment, description will be given assuming that electric direct-acting actuators are employed as the X-axis actuator 16x, the Y-axis actuator 16y, and the Z-axis actuator 16z, respectively.

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

The X-axis actuator 16x has one elongated square column bar member x1. The bar member x1 of the X-axis actuator 16x extends in the left-right direction (that is, perpendicularly to the bar members y1, y2 of the Y-axis actuator 16y). is placed above. The bar member x1 of the X-axis actuator 16x moves along the extending direction of the bar members y1, y2 of the Y-axis actuator 16y. That is, the Y-axis actuator 16y movably supports the bar member x1 of the X-axis actuator 16x along the extending direction of the bar members y1, y2. The bar member x1 of the X-axis actuator 16x and the three bar members y1, y2, and y3 of the Y-axis actuator 16y constitute a frame that movably supports the printer 16 and the detection sensor SN2.

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

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

As shown in FIG. 3A, in this embodiment, the printer 16 is attached to one side of a thin rectangular flat attachment plate 60, and the detection sensor SN2 is attached to the other side. The printer 16 includes a print head 61 that ejects ink, an ink storage section 62 (ink cartridge) that stores ink, and an actuation mechanism 63 that controls the ink ejection operation. The print head 61 is arranged at the bottom of the printer 16 so as to face the floor.

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

The detection sensor SN2 is disposed inside the case 76, and has a configuration in which the pusher 71 is disposed toward the floor.

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

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

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

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

In the marking robot 10, for example, the printer 16 shown in FIG. 3A can be changed to the printer 16a shown in FIG. 6. FIG. 6 is an overview diagram of a printer 16a that is a modified example of the printer 16. As shown in FIG. 6, the modified printer 16a has a pen-shaped print head 66 like a plotter and a grip part 67 that grips the pen-shaped print head 66. The pen tip of the pen-shaped print head 66 is arranged at a position slightly above the bottom surface of the pusher 71.

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

If multiple pieces of equipment are installed on an uneven or sloped floor Fl, each piece of equipment cannot be installed horizontally, resulting in installation failures and rework. Become. Furthermore, in a factory that manufactures products, if equipment is improperly installed, there is a possibility that an abnormality will occur in the production process.

Therefore, in order to prevent rework (backward work) from occurring, the operator must install anchor bolts 91 (see FIG. 8) and spacers 96 (see FIG. 9) in accordance with the unevenness level (including slope level) of the floor surface Fl. ) to adjust the height of equipment. FIG. 8 is an explanatory diagram of an example of adjusting the height of equipment using anchor bolts 91 corresponding to the unevenness level of the floor surface Fl. FIG. 9 is an explanatory diagram of an example of adjusting the height of equipment using spacers 96 corresponding to the unevenness level of the floor surface Fl.

In the example shown in FIG. 8, a plurality of anchor bolts 91 are embedded in the floor surface Fl. A receiving nut 92a and a fastening nut 92b are attached to each anchor bolt 91, and a base portion 81b of the equipment (post 81p) is arranged between the receiving nut 92a and the fastening nut 92b. A plurality of through holes for passing each anchor bolt 91 are formed in the base portion 81b. The fastening nut 92b is attached to the anchor bolt 91 from above the base portion 81b. In such a configuration, when installing the equipment (pillar 81p), the operator adjusts the mounting position (height) of the receiving nut 92a according to the unevenness level of the floor surface Fl so that the base part 81b of the equipment is horizontal. position). Then, the operator places the base part 81b of the equipment on the receiving nut 92a, attaches the fastening nut 92b to the anchor bolt 91 from above the base part 81b, and tightens the fastening nut 92b. Thereby, the operator fixes the base portion 81b of the equipment using the receiving nut 92a and the fastening nut 92b.

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

In this way, when installing the equipment, the operator adjusts the height of the equipment using the anchor bolts 91 (see Figure 8) and the spacers 96 (see Figure 9) in accordance with the unevenness level of the floor surface Fl. I do. Thereby, the operator can install each equipment horizontally while suppressing the occurrence of installation defects of the equipment. As a result, the operator aligns the height of the ceiling surface 81t of each control panel 81 to a uniform surface, and furthermore, aligns the adjacent control panels 81 so that there are no gaps between the adjacent control panels 81. It can be kept in close contact.

In such height adjustment of equipment, it is necessary to measure in advance the unevenness level of the floor surface Fl at the marking position. Regarding this point, the conventional marking robot described in Patent Document 1 did not have a function of measuring the unevenness level of the floor surface Fl. Therefore, in the conventional marking robot, when adjusting the height of equipment, it was necessary for the operator to manually measure the unevenness level (including the slope level) of the floor surface Fl at the marking position. Measuring the unevenness level of the floor surface Fl requires a skilled worker and a lot of effort. This work of measuring the level of unevenness of the floor surface Fl is prone to errors when performed by unskilled workers. Sometimes there were delays in the process. Therefore, it has been desired that conventional marking robots automate the work of measuring the unevenness level of the floor surface at the marking position.

Therefore, in this embodiment, the marking robot 10 is configured to automatically measure the unevenness level (including the slope level) of the floor surface Fl at the marking position. Then, the marking robot 10 automatically prints unevenness level information (see FIG. 10) representing the measured unevenness level (including slope level) of the floor surface Fl on the floor surface Fl. FIG. 10 is an explanatory diagram of print information printed on the floor surface Fl by the marking robot 10.

As an example of printed information printed on the floor surface Fl, FIG. It also shows unevenness level information D3 representing the unevenness level of the position (marked-out position).

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

In the example shown in FIG. 10, the characters "Panel 1" representing the attributes of the equipment to be installed are printed on the floor surface Fl as the equipment information D2. Here, "panel 1" indicates that the equipment to be installed is the first control panel. The equipment information D2 may represent the name, model number, purpose, etc. of the equipment to be installed. The device information D2 can be represented by figures, characters, symbols, and the like.

In the example shown in FIG. 10, as unevenness level information D3, numbers and units of "0 mm", "1 mm", and "2 mm" representing height adjustment amounts of equipment are printed on the floor surface Fl. The unevenness level information D3 is a value of the unevenness level of the floor surface Fl measured at each desired position (marking position). Here, it is assumed that the position where "0 mm" is printed represents the position where the height adjustment of the equipment is unnecessary. The position where "1mm" is printed is 1mm lower in height than the position where "0mm" is printed, so it represents the position where the height adjustment is performed to raise the equipment by 1mm. shall be taken as a thing. Similarly, the position where "2 mm" is printed represents the position where the height adjustment is performed to raise the equipment by 2 mm.

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

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

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

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

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

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

FIG. 11B shows the state of the marking robot 10 when the directional prism 15 and the detection sensor SN2 are lowered and the pusher 71 (contact terminal) of the detection sensor SN2 contacts (grounds) the recess Fla of the floor Fl. It shows. The marking robot 10 stops the downward movement when the pusher 71 (contact terminal) of the detection sensor SN2 is grounded during the downward movement of the directional prism 15 and the detection sensor SN2 (the same applies hereinafter).

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

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

Here, "Z" represents the height of the printing surface, "P" represents the height of the directional prism 15 when it rises to the highest level, and "P1" represents the height of the directional prism 15 when it descends (detection sensor It represents the height of SN2 when it touches the ground.

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

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

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

In the example shown in FIGS. 12A and 13A, the marking robot 10 is stopped on a location where a slope is formed on the floor surface Fl. The floor surface Fl has a structure in which a low ground surface Fl1 is formed on the lower side and a high ground surface Fl3 is formed on the higher side with the slope surface Fl2 in between. The low ground Fl1 is a horizontal and flat location at a height Z0 of zero level. The sloped surface Fl2 is a place that slopes so that the height increases from the low ground Fl1 to the high ground Fl3. The high ground Fl3 is a horizontal and flat place. The sloped surface Fl2 is a printing surface on which the printing information shown in FIG. 10 is printed. The left driving wheel 17b of the marking robot 10 is located on a low ground Fl1, and the right driving wheel 17a of the marking robot 10 is located on a high ground Fl3. The marking robot 10 is in a tilted position.

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

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

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

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

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

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

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

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

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

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

The inclination angle θ of the marking robot 10 has the relationship shown in FIG. 13B with respect to the height P of the directional prism 15 at its highest point and the distance h described above. Therefore, the PC 14 of the marking robot 10 can calculate the inclination angle θ of the marking robot 10 using the following equation (5).
cosθ=P/h (5)

Here, "θ" represents the inclination angle of the marking robot 10, "P" represents the height of the directional prism 15 at its highest point, and "h" represents the detection sensor from the height position of the directional prism 15. It represents the distance to the height position of the sloped surface Fl2 that is in contact with the pusher 71 (contact terminal) of SN2.

The PC 14 of the marking robot 10 can calculate the height Z of the printing surface using the following equation (6) from the relationship between the above equation (4) and the above equation (5).
Z=Z3-h=Z3-(P/cosθ)...(6)

Here, "Z" represents the height of the printing surface, "Z3" represents the distance from the height position of the directional prism 15 to the height position of the low ground Fl1, and "h" represents the height of the directional prism 15. It represents the distance from the height position to the height position of the sloped surface Fl2 that is in contact with the pusher 71 (contact terminal) of the detection sensor SN2. Further, "θ" represents the inclination angle of the marking robot 10, "P" represents the height of the directional prism 15 at its highest point, and "h" represents the height position of the directional prism 15 from the detection sensor SN2. represents the distance to the height position of the slope surface Fl2 that is in contact with the pusher 71 (contact terminal).

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

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

(First operation example)
FIG. 14 shows a first operation example of the marking robot 10. In the first operation example, the marking robot 10 measures the unevenness level of the floor surface Fl at each desired position while sequentially traveling through a plurality of arbitrary desired positions, and uses the printer 16 to transfer the unevenness level information to the floor surface Fl. Print on Fl.

In this embodiment, the operation of "measuring the unevenness level of the floor Fl" is performed by lowering the detection sensor SN2 until the pusher 71 (contact terminal) is grounded, and then determining the direction from the tracking type total station 20 when the descent is stopped. This is realized by acquiring the positional information of the sexual prism 15 (the same applies hereinafter).

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

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

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

Next, the marking robot 10 determines whether there are any remaining locations to be measured (step S150). If it is determined in step S150 that there is a remaining amount (“Yes”), the process returns to step S110. If it is determined in step S150 that there is no remaining data ("No"), the series of routine processing ends.

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

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

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

Next, the marking robot 10 determines whether there are any remaining locations to be measured (step S132). If it is determined in step S132 that there is a remaining amount (“Yes”), the process returns to step S110. If it is determined in step S132 that there is no vehicle left ("No"), the vehicle travels to the desired position (step S134).

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

Next, the marking robot 10 determines whether there are any remaining locations to be measured (step S152). If it is determined in step S152 that there is a remaining amount (“Yes”), the process returns to step S134. If it is determined in step S152 that there is no remaining data ("No"), the series of routine processing ends.

(Third operation example and fourth operation example)
The marking robot 10 may have an image reading means (not shown) for reading an image of the floor surface Fl. In this case, for example, the worker may mark positional information such as a marking line on the floor surface Fl in advance, and the marking robot 10 may detect the unevenness level of the location where the positional information is marked. be able to. In this case, the marking robot 10 can execute the third operation example shown in FIG. 16 instead of the first operation example shown in FIG. 14, for example. Further, the marking robot 10 can execute the fourth operation example shown in FIG. 17 instead of the second operation example shown in FIG. 15, for example.

The third operation example shown in FIG. 16 differs from the first operation example shown in FIG. 14 in that steps S105a and S105b are performed instead of step S110. That is, in the third operation example, in steps S105a and S105b, the marking robot 10 reads position information such as marking lines marked in advance on the floor surface Fl using an image reading means (not shown) while running. .

The fourth operation example shown in FIG. 17 is different from the second operation example shown in FIG. 15 in that the process of steps S105a and S105b and the process of steps S135a and S135b are performed instead of step S110 and step S134. differ. That is, in the fourth operation example, in steps S105a and S105b, the marking robot 10 uses an image reading means (not shown) to read positional information such as marking lines marked in advance on the floor Fl while traveling. . Similarly, in steps S135a and S135b, the marking robot 10 reads positional information such as marking lines previously marked on the floor surface Fl using an image reading means (not shown) while running.

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

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

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

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

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

Next, the marking robot 10 calculates the height Z of the printing surface based on the height P1 of the directional prism 15 when it is lowered (step S225). Then, the marking robot 10 creates unevenness level information representing the unevenness level of the floor surface Fl based on the height Z of the printing surface. This completes the measurement operation of the unevenness level.

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

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

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

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

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

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

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

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

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

(Printing operation)
FIG. 20 shows details of the process of step S140 shown in FIGS. 14 to 17.
As shown in FIG. 20, the marking robot 10 raises the print head 61 to the height of the print gap (step S405). The print gap is a predetermined gap to prevent the print head 61 from colliding with the print surface even if it moves during printing.

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

Next, the marking robot 10 raises the print head 61 to the highest position (step S415). This completes the printing operation.

(Measurement robot mode)
The marking robot 10 can execute a measurement robot mode in which the unevenness level of the floor surface Fl is measured without printing on the floor surface Fl. FIG. 21 shows the operation when executing the measurement robot mode.

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

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

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

Next, the marking robot 10 determines whether there are any remaining locations to be measured (step S170). If it is determined in step S170 that there is a remaining amount (“Yes”), the process returns to step S110. If it is determined in step S170 that there is no remaining material (“No”), the external device 30 creates floor surface information representing the unevenness level at each position of the floor surface Fl (step S180). This completes the series of routine processing.

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

According to this embodiment, the marking robot 10 that runs autonomously performs marking mechanically, so that marking work in facility construction can be labor-saving. At this time, the marking robot 10 measures the unevenness level of the floor surface and prints unevenness level information representing the unevenness level of the floor surface on the floor surface. Such marking robot 10 can automate the work of measuring the unevenness level of the floor surface at the marking position.

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

The present invention is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of the embodiment with other configurations, and it is also possible to add other configurations to the configuration of the embodiment. Furthermore, it is possible to add, delete, or replace a part of each configuration with other configurations.

For example, the marking robot 10 shown in FIG. 1 can be configured as a measuring robot by removing the printer 16. This measurement robot is used, for example, exclusively to execute the processing of the flow shown in FIG. 21.

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

This measurement robot stores unevenness level information in a storage means, and can display the unevenness level information on the touch panel display 13 or output it to the external device 30 by operating the touch panel display 13.

The control means of this measuring robot causes the traveling means to sequentially travel to a plurality of arbitrary desired positions, and at each desired position, moves the measurement target downward until the floor surface is detected by the moving means by the detection sensor. After that, the unevenness level of the floor surface may be measured based on the position of the measurement target measured by the three-dimensional measuring means, and unevenness level information representing the unevenness level may be stored in the storage means.

In addition, the control means of this measuring robot causes the traveling means to sequentially travel to a plurality of arbitrary desired positions, and at each desired position, moves the measurement target downward until the floor surface is detected by the detection sensor in the moving means. After moving, the unevenness level of the floor surface may be measured based on the position of the measurement target measured by the three-dimensional measuring means, and unevenness level information representing the unevenness level may be output to an external device.

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

Claims (16)

a traveling means that travels on the floor;
Printing means having a print head for printing on the floor surface;
a detection sensor that detects the floor surface;
a measurement target whose position is measured by a three-dimensional measurement means;
a moving means that movably supports the print head and the measurement target;
comprising a control means for controlling the operation of the traveling means and the printing means,
The control means causes the traveling means to travel to an arbitrary desired position, and at the desired position, the floor surface is detected by the detection sensor in the moving means, and the floor surface is measured by the three-dimensional measuring means. A marking robot, characterized in that the level of unevenness of the floor surface is measured based on the position of a measurement target, and the printing means prints unevenness level information representing the level of unevenness on the floor surface. The marking robot according to claim 1,
The detection sensor is composed of a touch sensor whose contact terminal is arranged facing the floor surface,
The marking robot is characterized in that the moving means includes a vertical moving means that supports the print head, the detection sensor, and the measurement target so as to be movable in the vertical direction. The marking robot according to claim 2,
The marking robot is characterized in that the contact terminal has a ring shape formed to surround the print head when viewed from above. The marking robot according to claim 1,
The marking robot is characterized in that the detection sensor is comprised of an optical sensor that irradiates light downward. The marking robot according to any one of claims 1 to 4,
The control means measures the unevenness level of the floor surface at each desired position while causing the traveling means to sequentially travel through a plurality of arbitrary desired positions, and records the unevenness level information on the printing means. A marking robot that is characterized by printing on. The marking robot according to any one of claims 1 to 4,
The control means causes the traveling means to sequentially travel to any of the plurality of desired positions, measures the unevenness level of the floor surface at each desired position, and then causes the traveling means to travel to any of the plurality of desired positions again. A marking robot, characterized in that while sequentially traveling through desired positions, the printing means prints the unevenness level information on the floor surface at each desired position. The marking robot according to any one of claims 1 to 6,
The control means, when printing the unevenness level information on the floor surface, causes the printing means to also print position information representing a desired position and equipment information representing a device installed at the desired position. Out robot. The marking robot according to any one of claims 1 to 7,
A marking robot characterized by having a manual input means for manually inputting various information and operation instructions. The marking robot according to any one of claims 1 to 8,
A marking robot that moves the measurement target in an arbitrary direction and calculates a tilt angle of the marking robot based on an amount of vertical variation of the measurement target with respect to a movement amount of the measurement target. The marking robot according to claim 9,
The marking robot is characterized in that the height of the printing surface on the floor surface is calculated based on the installation height of the measurement target and the inclination angle of the marking robot. The marking robot according to any one of claims 1 to 10,
The marking robot is characterized in that the control means is capable of executing a measurement robot mode that measures the unevenness level of the floor surface without printing on the floor surface. The marking robot according to any one of claims 1 to 11,
three-dimensional measuring means for tracking a measurement target mounted on the marking robot and measuring the current position of the measurement target;
A marking robot system comprising: an external device that transmits and receives information to and from the marking robot. The marking robot system according to claim 12,
The control means for the marking robot acquires current position information representing the current position of the measurement target as the current position of the marking robot from the three-dimensional measuring means,
The external device acquires the current position information from the marking robot or the three-dimensional measuring means, and also acquires unevenness level information representing the unevenness level of the floor surface at any desired position from the marking robot, A marking robot system, characterized in that the marking robot system creates floor surface information representing a level of unevenness at each position of the floor surface. a traveling means that travels on the floor;
a detection sensor that detects the floor surface;
a measurement target whose position is measured by a three-dimensional measurement means;
a moving means that movably supports the measurement target;
A control means for controlling the operation of the traveling means,
The control means causes the traveling means to travel to an arbitrary desired position, and at the desired position, the floor surface is detected by the detection sensor in the moving means, and the floor surface is measured by the three-dimensional measuring means. A measuring robot characterized in that it measures the unevenness level of the floor surface based on the position of a measurement target. The measuring robot according to claim 14,
The control means causes the traveling means to sequentially travel to a plurality of desired positions, and at each desired position, causes the moving means to move the measurement target downward until the floor surface is detected by the detection sensor. After moving, the level of unevenness of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and unevenness level information representing the level of unevenness is stored in a storage means. Measuring robot. The measuring robot according to claim 14 or 15,
The control means causes the traveling means to sequentially travel to a plurality of desired positions, and at each desired position, causes the moving means to move the measurement target downward until the floor surface is detected by the detection sensor. After moving, the level of unevenness of the floor surface is measured based on the position of the measurement target measured by the three-dimensional measuring means, and unevenness level information representing the level of unevenness is output to an external device. Measuring robot.

Images