JP7408423B2 - Dimension measuring device, dimension measuring system and dimension measuring method - Google Patents

Description

The present invention relates to a dimension measuring device, a dimension measuring system, and a dimension measuring method.

BACKGROUND ART Conventionally, the use of robots has been known as a technology for increasing the efficiency of installing floor panels on floors. For example, Patent Documents 1 and 2 and Non-Patent Document 1 describe that a robot performs marking that serves as a reference for determining the installation position.

Japanese Patent Application Publication No. 2001-289638 Patent No. 2649859

Obayashi Technology Research Institute Bulletin No. 76 Self-propelled marking robot system

When installing multiple floor panels, there may be cases where there is no space to fit the floor panels, such as in the corner of a room or in a location adjacent to a pillar. In such cases, it is necessary to cut a considerable amount of floor panels one by one to fit the space between the structure and the floor panel, but since the dimensions of the space vary depending on the location, it takes time to take measurements. It was on. If it takes time to install the floor panels, the work schedule for the entire floor will be affected. Traditionally, floor panels have been constructed by multiple workers, for example, a team of six people, but due to the aging of specialized workers and a shortage of human resources, it is desirable to improve the efficiency of floor panel construction work. It was rare.

An object of the present invention is to provide a dimension measuring device, a dimension measuring system, and a dimension measuring method that can streamline the work required to cut a floor panel when there is no space to fit it into a structure.

The present invention provides a main body having a traveling device, an imaging unit disposed in the main body and capturing an image including a floor panel installed on an installation surface and a space between the floor panel and a structure, and the imaging unit The present invention relates to a dimension measuring device including a dimension measuring section that measures the dimension of the space based on the length of one side of the floor panel in the image acquired by the section.

Preferably, the dimension measuring device further includes a cut information creation section that creates shape information indicating a shape of the cut panel according to the shape of the space based on the dimensions measured by the dimension measurement section.

The dimension measuring device includes a space position acquisition unit that acquires space position information indicating the position of the space included in the image, and a space position acquisition unit that associates the position information with the shape information to distinguish and manage information on the plurality of cut panels. It is preferable that the device further includes a panel information management unit.

The dimension measuring device includes a plurality of position setting imaging units disposed on the same straight line as the imaging unit, and detects an end face of the floor panel by the position setting imaging unit, and performs imaging of the imaging unit based on the end face. Preferably, the image forming apparatus further includes a positioning section that determines the position.

Preferably, the positioning unit controls the travel device so that the imaging unit is located at the center of one side of the floor panel.

The dimension measuring device further includes a plurality of laser distance measuring devices disposed on the main body at intervals corresponding to the length of one side of the floor panel, and the dimension measuring section includes a plurality of laser distance measuring devices arranged at intervals corresponding to the length of one side of the floor panel. Preferably, the dimensions of the space are measured based on the distance to the structure obtained by.

The dimension measuring device further includes a laser pointer disposed in the main body, and the dimension measuring unit is configured to measure the reference point of the laser pointer irradiated on the structure in the image acquired by the imaging unit and the laser pointer. Preferably, the dimension of the space is measured based on the dimension between the floor panels and the dimension of the one side of the floor panel.

The imaging unit acquires an image including a reference line drawn parallel to the one side of the floor panel on the installation surface, and the dimension measuring unit measures the size of the reference line and the one side of the floor panel. Preferably, the dimensions of the space are measured based on.

The present invention also provides an image input unit into which an image including a floor panel installed on an installation surface and a space between the floor panel and a structure is input, and the floor in the image acquired by the image input unit. a dimension measuring section that measures the dimension of the space between the floor panel and the structure based on the length of one side of the panel; and a cut panel that corresponds to the shape of the space based on the dimension measured by the dimension measuring section. The present invention relates to a dimension measurement system comprising: a cut information creation section that creates shape information indicating the shape of the object;

The present invention also provides an image input step in which an image including a floor panel installed on an installation surface and a space between the floor panel and the structure is input, and the floor in the image acquired in the image input step. a dimension measuring step of measuring the dimension of the space between the floor panel and the structure based on the length of one side of the panel; and a cut panel according to the shape of the space based on the dimension measured in the dimension measuring step. and a cut information creation step of creating shape information indicating the shape of.

According to the dimension measuring device, dimension measuring system, and dimension measuring method of the present invention, it is possible to streamline the work required to cut a floor panel when there is no space to fit it into a structure.

1 is a plan view showing the configuration of a self-propelled robot according to an embodiment of the present invention. 1 is a diagram of a self-propelled robot according to an embodiment of the present invention viewed from the rear side. FIG. 1 is a functional block diagram showing the configuration of a control device included in a self-propelled robot according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of a structure and a floor panel to be measured by a self-propelled robot according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of a structure and a floor panel to be measured by a self-propelled robot according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of an image acquired by a self-propelled robot according to an embodiment of the present invention. It is a functional block diagram showing the composition of the control device with which the self-propelled robot of the 1st modification is provided. It is a figure which shows the example of the image which the self-propelled robot of the 1st modification acquires. It is a functional block diagram showing the composition of the control device with which the self-propelled robot of the 2nd modification is provided. It is a figure which shows the example of the image which the self-propelled robot of the 3rd modification acquires. 1 is a schematic diagram of a dimension measurement system according to an embodiment of the present invention. It is a schematic diagram of the dimension measurement system of a modification.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A self-propelled robot that is an embodiment of the dimension measuring device of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing the configuration of a self-propelled robot 1 according to an embodiment of the present invention. FIG. 2 is a diagram of the self-propelled robot 1 according to an embodiment of the present invention viewed from the rear side. FIG. 3 is a functional block diagram showing the configuration of the control device 10 included in the self-propelled robot 1 according to an embodiment of the present invention.

As shown in FIG. 1, the self-propelled robot 1 is movable in the advancing direction (the direction of the arrow in FIG. 1). In this embodiment, the direction of movement of the self-propelled robot 1 is referred to as the front-back direction, the front side in the front-back direction is referred to as the front side (upper side in Figure 1), and the rear side in the front-back direction is referred to as the rear side (lower side in Figure 2). That's what it means. Further, the width direction perpendicular to the traveling direction is referred to as the left-right direction, one side in the left-right direction is referred to as the left side (the left side in FIG. 1), and the other side in the left-right direction is referred to as the right side (the right side in FIG. 1).

The self-propelled robot 1 of this embodiment includes a main body section 2, a measurement camera (imaging section) 3, a rear camera 61, a front camera 62, and a control device 10 (see FIG. 3). Each configuration of the self-propelled robot 1 will be explained.

The main body portion 2 includes a pedestal portion 21 and a traveling device 22. The pedestal portion 21 is formed in a square shape in a plan view and has a thickness. Various circuit boards (not shown) and the like are arranged on the pedestal section 21 . Note that the pedestal portion 21 is not limited to a square shape in plan view, and may be, for example, rectangular, circular, or elliptical.

The traveling device 22 is attached to the pedestal section 21. The traveling device 22 has four wheels 221 (omnidirectional moving wheels) and four drive units 222. The four wheels 221 are arranged at both ends of the pedestal section 21 in the left-right direction, spaced apart from each other in the front-back direction. The four wheels 221 are composed of omnidirectional wheels. The wheels 221 can be moved in all directions by combining wheel drive and roller rotation.

In this embodiment, as the wheel 221 as an omnidirectional moving wheel, for example, a Mecanum wheel (registered trademark) having a plurality of rollers inclined at 45 degrees with respect to the wheel is used. Note that, in addition to the mecanum wheel, for example, an omni-wheel (registered trademark) having a plurality of rollers with rotation axes facing different directions may be used as the omnidirectional moving wheel.

The four drive units 222 drive the wheels 221, respectively. In this embodiment, the drive unit 222 is configured by, for example, a stepping motor. The four driving parts 222 are each controlled by the control device 10 described later, so that the four wheels 221 individually control the rotation amount and rotation direction of each omnidirectional moving wheel, and the main body part 2 can be moved in the front-back direction, left-right direction, and diagonal direction.

The measuring camera 3 will be explained. The measuring camera 3 is an imaging section supported by a support 31 arranged at the center of the right side of the pedestal section 21 in plan view. The support body 31 extends upward from the pedestal 21 and then extends to the right in the horizontal direction, and supports the measuring camera 3 on the outside of the pedestal 21 in plan view.

The images acquired by the measuring camera 3 will be explained. 4 and 5 are schematic diagrams showing an example of a structure S and a floor panel P, respectively, which are measured by the self-propelled robot 1. Spaces C1 to C7 (see FIG. 4) and C10 (see FIG. 5) are formed between the floor panel P and the structure S, in which the floor panel P cannot be placed. The spaces C1 to C7 and C10 have different shapes depending on the structure S, such as trapezoids, rectangles, or triangles. The measuring camera 3 acquires an image including these spaces C1 to C7 and C10.

FIG. 6 is a diagram showing an example of an image acquired by the self-propelled robot 1. FIG. 6 shows an image including spaces C19 to C21 acquired by the measuring camera 3. The measuring camera 3 is supported by a support 31 at a position where it can image the space between the structure S and the floor panel P (spaces C19 to C21 in the example of FIG. 6) above the floor panel P, as shown in FIG. Note that the measuring process using the image in FIG. 6 will be described later.

The rear camera 61 and front camera 62 will be explained. The rear camera 61 and the front camera 62 are position setting imaging units that acquire images of the lower part of the installation surface 100, the installed floor panel P, and the like. As shown in FIG. 1, the rear camera 61 is arranged on the right rear side of the main body part 2 via the support part 611, and the front camera 62 is arranged on the right front side of the main body part 2 via the support part 621. . Image signals from the rear camera 61 and the front camera 62 are sent to the main body 2 via an interface (I/F). In this embodiment, for example, a USB (Universal Serial Bus) is used as the interface (I/F). Note that the interface (I/F) is not limited to USB as long as it can transmit signals of captured images.

The rear camera 61 and the front camera 62 are arranged on the same straight line L. In this embodiment, the distance between the rear camera 61 and the front camera 62 is set to a distance L1 that is the length of one side of the floor panel P. As shown in FIG. 2, the measuring camera 3 is located at the center on the straight line L connecting the rear camera 61 and the front camera 62. That is, the measuring camera 3, the rear camera 61, and the front camera 62 are located on the same straight line L.

The configuration of the control device 10 will be explained. FIG. 3 is a functional block diagram showing the configuration of the control device 10 included in the self-propelled robot 1 according to an embodiment of the present invention. A drive unit 222, a measuring camera 3, a rear camera 61, and a front camera 62 are electrically connected to the control device 10. The control device 10 includes a control unit 11 that performs various controls of the self-propelled robot 1 such as starting, driving, stopping, measuring dimensions, and communicating with external devices, and a memory that stores various information for performing various controls. This is a computer including a section 12.

The control section 11 will be explained. The control unit 11 includes a dimension measurement unit 101, a cut information creation unit 110, a space position acquisition unit 111, a panel information management unit 112, a self-propelled distance measurement unit 113, a speed control unit 114, and an alignment unit 115. , a position detection section 116 , and a communication section 117 .

The dimension measurement unit 101 measures dimensions from an image captured by the measurement camera 3 using a contour extraction technique. The contour extraction technique is a technique related to so-called edge detection, which specifies a discontinuously changing location based on the brightness of an image, and extracts a shape based on the identified location.

The measuring process by the dimension measuring section 101 will be explained with reference to FIG. 6. The dimension measuring unit 101 measures the space C20 using the image acquired by the measuring camera 3. The floor panel P of this embodiment is formed in a square shape with the length of one side being the distance L1. The length L1 of one side of the floor panel P is, for example, 50 cm. The dimension measurement unit 101 measures the space C20 based on the distance L1 of the length of one side of the floor panel P in the image. One side of the floor panel P that is used as a reference is the end surface PE1 of the floor panel P that faces the structure S. It is assumed that the end surface PE2 of the floor panel P is on the left side of the paper, and the end surface PE3 of the floor panel P is on the right side of the paper.

The dimension measuring unit 101 measures the distance d1 between the floor panel P and the structure S on the extension line of the end face PE2 and the distance d2 between the floor panel P and the structure S on the extension line of the end face PE3 in the image. Calculated based on the length of distance L1. One side of the floor panel P has a fixed length and is guaranteed to be an accurate straight line, so the space can be saved by using the ratio of the distance L1 in the image to the length of the actual end face PE1 of the floor panel P. Can be measured accurately.

Furthermore, by making corrections based on the height of the support legs Pf of the floor panel P, the dimensions of the space can be measured more accurately. Furthermore, by holding the heights of different types of support legs in advance as a table, correction processing can be performed accurately even for different types of support legs. The correction process can use, for example, a process using perspective.

The cut information creation unit 110 creates cut information for cutting the floor panel P according to the dimensions measured by the dimension measurement unit 101. In the example of FIG. 6, trapezoidal cut information corresponding to the shape of C20 is created based on the distance d1 and the distance d2.

The space position acquisition unit 111 identifies a space in the image based on the order in which the images were taken, the position, preset arrangement information of the floor panel P, or a combination thereof. In the example of FIG. 6, the space position information is created by specifying the position of the space C20 on the floor based on the position of the self-propelled robot 1 at the time of image capture in FIG. Note that the method for specifying the position of the space C20 is not particularly limited.

The panel information management unit 112 is a database that manages the cut information created by the cut information creation unit 110 and space position information of spaces in association with each other.

The self-running distance measurement unit 113 measures the self-running distance based on the drive amount of the four wheels (traveling device). Specifically, the four wheels 221 are driven by a drive section 222 consisting of a stepping motor. Thereby, the self-running distance measuring section 113 can measure the free-running distance based on the number of drive pulses that drive the stepping motor.

The speed control unit 114 controls the speed of the four wheels 221 (traveling device 22) based on the self-traveling distance acquired by the self-traveling distance measurement unit 113, images acquired by the rear camera 61 and the front camera 62, and the like. Specifically, the speed control unit 114 calculates the number of drive pulses for driving the stepping motor based on the self-travel distance acquired by the self-travel distance measurement unit 113, and adjusts the attenuation speed.

The positioning unit 115 performs positioning of the measuring camera 3 during imaging based on images acquired by the rear camera 61 and the front camera 62, respectively. More specifically, the rear camera 61 and the front camera 62 control the traveling device 22 so that the measuring camera 3 is located at the center of the end surface PE1 of the floor panel P. As a result, the imaging position of the self-propelled robot 1 is stabilized, and dimensions can be measured with high precision.

In this embodiment, the self-propelled robot 1 moves along the end surface PE1 of the floor panel P, and the measuring camera 3 takes an image while being located at the center of one side. Whether the measuring camera 3 is located at the center of the end surface PE1 is determined by recognizing the straight line or end point of the right and left end surfaces PE2, PE3 of the floor panel P.

The position detection section 116 acquires the position of the main body section 2 on the floor (installation surface 100). This acquired position information is also used to specify the position of the space by the space position acquisition unit 111 described above. Further, position information regarding the position of the main body section 2 detected by the position detection section 116 is transmitted to the outside via a communication section 117, which will be described later. Thereby, for example, the position of the self-propelled robot 1 can be displayed on a display unit (not shown) based on the position information of the main body 2 transmitted to the outside.

The communication unit 117 exchanges various information with the outside through communication. The communication unit 117 of this embodiment transmits the cut information and space position information linked by the panel information management unit 112 to the outside. In addition, when moving the self-propelled robot 1 by remote control, the position of the self-propelled robot 1 detected by the position detection unit 116 obtained in the self-propelled robot 1 is received by receiving an external operation signal. Disseminate information, self-driving distance information, etc. to the outside.

The self-propelled robot 1 of this embodiment measures the spaces C19 and C21 while moving by the traveling device 22 using the same process as the process of measuring the space C20. The spaces C1 to C7 and C10 shown in FIGS. 4 and 5 are also measured using the same process, and finally all spaces are measured.

As explained above, the self-propelled robot (dimension measuring device) 1 of the present embodiment includes a main body 2 having a traveling device 22, a floor panel P disposed on the main body 2, and a floor panel P installed on the installation surface 100. A measuring camera (imaging unit) 3 captures an image including the space between the floor panel P and the structure S, and the space is determined based on the length of one side of the floor panel (distance L1) in the image acquired by the measuring camera 3. A dimension measurement unit 101 that measures the dimensions of C20 is provided. Thereby, the gap between the floor panel P and the structure S can be efficiently measured using edge computing technology without requiring specialized workers. By having the traveling device 22, it is possible to measure spaces at different locations (for example, spaces C1 to C7, C10, C19 to C21) by changing the imaging position while maintaining a constant height, so that it is possible to measure spaces at different locations (for example, spaces C1 to C7, C10, C19 to C21). However, the measurement work can be done automatically.

Furthermore, the self-propelled robot 1 of this embodiment further includes a cut information creation section 110 that creates shape information indicating the shape of the cut panel according to the shape of the space based on the dimensions measured by the dimension measurement section 101. Thereby, the shape information of the cut panel is automatically created, so that it is possible to smoothly move on to the cutting work of the floor panel P.

The self-propelled robot 1 of this embodiment also includes a space position acquisition unit 111 that acquires space position information indicating the position of a space included in an image, and a space position acquisition unit 111 that acquires space position information indicating the position of a space included in an image, and a space position acquisition unit 111 that associates position information with shape information and acquires information on a plurality of cut panels. It further includes a panel information management section 112 that manages the information separately. Thereby, the arrangement position and the shape information are linked, so that the management of the floor panel (cut panel) P during the cutting operation can be facilitated, and the work efficiency of the construction of the floor panel P can be improved. Moreover, the cutting process of the floor panel P can also be performed at a location away from the location where the floor panel P is installed. Therefore, other work performed on the floor and cutting work can be performed in parallel, and the overall work efficiency can also be improved.

In addition, the self-propelled robot 1 of this embodiment has a rear camera 61 and a front camera 62 as a plurality of position setting imaging units arranged on the same straight line as the measuring camera 3, and a rear camera 61 and a front camera 62 that are arranged on the same straight line as the measuring camera 3. It further includes a positioning unit 115 that detects the end face of the panel P and determines the imaging position of the measuring camera 3 based on the end face. As a result, one side of the floor panel P whose exact length is known in advance and which can ensure a straight line can be used as a reference, so the imaging position of the measuring camera 3 is stabilized.

Furthermore, the positioning unit 115 of this embodiment controls the traveling device 22 so that the measuring camera 3 is located at the center of one side of the floor panel P. As a result, the position of the measuring camera 3 can be further stabilized, so that even more accurate measuring work can be achieved.

Although the self-propelled robot 1 has been described above as an example of a dimension measuring device, the configuration of the self-propelled robot 1 can be changed as appropriate. Next, a modification of the self-propelled robot 1 will be described. Note that in the following description, configurations that are common or similar to those already described may be designated by the same reference numerals, and the description thereof may be omitted.

FIG. 7 is a functional block diagram showing the configuration of a control device included in the self-propelled robot 1 of the first modification. FIG. 8 is a diagram showing an example of an image acquired by the self-propelled robot 1 of the first modification.

As shown in FIG. 7, the self-propelled robot 1 of the first modification differs from the above embodiment in that it further includes a first laser pointer 261 and a second laser pointer 262. The first laser pointer 261 is placed at the position of the rear camera 61, and the second laser pointer 262 is placed at the position of the front camera 62. Note that the heights of the first laser pointer 261 and the second laser pointer 262 preferably match the height of the upper surface of the floor panel P in consideration of the height of the support leg Pf.

As shown in FIG. 8, the measuring camera 3 acquires an image while the first laser pointer 261 and the second laser pointer 262 are irradiating the structure S with the laser LS. Note that the first laser pointer 261 and the second laser pointer 262 have a function of rotating at high speed, thereby making it possible to make the afterimage a straight line. That is, a laser pointer with high speed rotation can be used. Note that, depending on the case, it is also possible to use a non-rotating laser pointer.

In the image acquired by the measuring camera 3, the reference points LP appear as red circles at two locations on the wall surface of the structure S. Of the two reference points LP, the reference point LP located on the left side of the paper is located on the extension of the end surface PE2 of the floor panel P, and the reference point LP located on the right side of the paper is located on the extension of the end surface PE3 of the floor panel P. To position. Also in this modification, the distances d1 and d2 between each of the two reference points LP and the floor panel P are calculated proportionally based on the distance L1 of the length of one side of the floor panel P facing the structure S. do.

The self-propelled robot (dimension measuring device) 1 of the first modified example described above further includes a first laser pointer 261 and a second laser pointer 262 disposed on the main body 2, and the dimension measuring unit 101 has a measuring camera. The dimensions of the space C20 are measured based on the dimension and distance L1 between the reference point LP of the laser pointer irradiated onto the structure S in the image acquired by the (imaging section) 3 and the floor panel P. Thereby, the dimensions of the structure S and the floor panel P can be measured with higher accuracy based on the reference point LP of the laser pointer. In addition, by moving the self-propelled robot 1 at fixed intervals (for example, 5 mm) and taking images, and performing proportional calculations for each image, it is possible to capture not only shapes including hypotenuses such as trapezoids and triangles, but also curves. Even when the distance between the floor panel P and the structure S is not constant, the space can be accurately measured.

Note that in the first modification, a configuration may be added in which the first laser pointer 261 and the second laser pointer 262 are moved up and down. Thereby, the laser can be irradiated at a position closer to or at the same height as the floor panel P, and measurement accuracy can be further improved.

Next, a second modified example of the self-propelled robot 1 will be described. FIG. 9 is a functional block diagram showing the configuration of the control device 10 included in the self-propelled robot 1 of the second modification.

The self-propelled robot 1 shown in FIG. 9 includes a first laser distance measuring device 361 and a second laser distance measuring device 362 in place of the first laser pointer 261 and second laser pointer 262 of the first modification. The first laser distance measuring device 361 is placed at the position of the rear camera 61, and the second laser distance measuring device 362 is placed at the position of the front camera 62. Based on the distances d1, d2, and distance L1 measured by the first laser distance measuring device 361 and the second laser distance measuring device 362, the entire shape of the space C20 including the hypotenuse portion can be accurately calculated from the image.

The self-propelled robot (dimension measuring device) 1 of the second modified example described above includes a first laser distance measuring device 361 and The dimension measurement unit 101 further includes a second laser distance measurement device 362, and measures the dimensions of the space C20 based on the distance to the structure S obtained by the first laser distance measurement device 361 and the second laser distance measurement device 362. do. Thereby, the space C20 between the structure S and the floor panel P is calculated based on the distance measured by each of the first laser distance measuring device 361 and the second laser distance measuring device 362 and the length of one side of the floor panel P. Can be measured more accurately.

Next, a third modified example of the self-propelled robot 1 will be described. FIG. 10 is a diagram showing an example of an image acquired by the self-propelled robot 1 of the third modification.

The configuration of the control device 10 of the self-propelled robot 1 of the third modification is similar to the configuration of the above embodiment shown in FIG. 3. This embodiment differs from the above-mentioned embodiment and the above-described modification in that the dimension measuring section 101 uses marking lines 150 drawn on the installation surface 100. The marking line 150 is a grid-like reference line, and the distance GL1 is the length of one side of one square.

In the third modified example described above, the measuring camera 3 acquires an image including the distance GL1 of the marking line 150 as a reference line drawn parallel to one side of the floor panel P with respect to the installation surface 100. Then, the dimension measurement unit 101 measures the dimension of the space C20 based on the distance GL1 of the marking line 150 and the dimension of one side of the floor panel P (distance L1). Thereby, the dimension of the space C20 can be accurately measured using the distance GL1 of the marking line 150.

Next, a dimension measurement system 500 using the self-propelled robot 1 described in the above embodiment or modified example will be described. FIG. 11 is a schematic diagram of a dimension measurement system 500 according to an embodiment of the present invention.

FIG. 11 shows an example in which cut panels P20, P10, etc. are created in a workshop 520 remote from the building 510 based on information acquired from the self-propelled robot 1 placed on the floor of the building 510. ing. Note that the workshop 520 may be a dedicated factory, a temporary prefabricated building, or a vehicle having a work space.

When the self-propelled robot 1 placed on the floor of the building 510 creates cut information by successively measuring spaces C1 to C7, C10, C19 to C21, etc., it determines the cut information and the space position corresponding to the cut information. Information is transmitted from an Internet connection device 511 such as a router to an Internet connection device 521 in a workplace 520 via the network 400.

The space location information and cut information received by the internet connection device 521 are received by the computer 522 and sent to the cutting device 525. The cutting device 525 cuts the floor panel P based on the cutting information, and sequentially manufactures cut panels P20, P10, . . . . The cutting process by the cutting device 525 may be performed using a paper pattern created based on the cutting information, or may be a method in which the cutting device 525 directly cuts the floor panel P based on the cutting information.

The manufactured cut panels P20, P10, etc. are managed together with the corresponding spaces C20, C10, etc. As a management method, an appropriate method using space position information can be adopted, such as assigning serial numbers to the cut panels P20, P10, etc., or placing a sign or display corresponding to the spaces C20, C10, etc. The manufactured cut panels P20, P10... are delivered to the floor of the building 510 and installed in the corresponding spaces C20, C10, etc. As a result, in the building 510, cut panels P20, P10, etc. can be created in parallel while other work is being done, and not only the construction work of floor panel P but also the entire floor construction process can be made more efficient. .

Next, a modification of the dimension measurement system 500 of the above embodiment will be described. FIG. 12 is a schematic diagram of a dimension measurement system 500 of a modified example. This modified example differs from the above embodiment in that a computer 522 placed in a workplace 520 includes a measurement processing section 300 that performs measurement processing.

The measurement processing section 300 includes an image input section 301, a dimension measurement section 302, and a cut information creation section 303. The image input unit 301 acquires an image transmitted from the outside (for example, the self-propelled robot 1) and space position information corresponding to the image. Images are sequentially transmitted from the outside to the image input unit 301 for each space.

The dimension measuring section 302 has the same configuration as the dimension measuring section 101 of the above embodiment, and measures the space C20 from the image. The cut information creation unit 303 creates cut information based on the shape of the space C20 acquired by the dimension measurement unit 302. The created cut information is sent to the cutting device 525, and cut panels P20, P10, . . . are created in the same manner as in the above embodiment.

The dimension measurement system 500 of the modified example described above includes an image input unit 301 into which an image including the floor panel P installed on the installation surface 100 and the space C20 between the floor panel P and the structure S is input; a dimension measuring section 302 that measures the dimension of the space C20 between the floor panel P and the structure S based on the distance L1 of the length of one side of the floor panel P in the image acquired by the dimension measuring section 301; It includes a cut information creation unit 303 that creates shape information indicating the shape of the cut panel P20 according to the shape of the space C20 based on the measured dimensions. Thereby, irregular cut panels P20, P10, etc. can be automatically created.

Furthermore, in this modification, since the self-propelled robot 1 only needs to acquire images, the self-propelled robot 1 may be configured to acquire images using an imaging device different from that of the self-propelled robot 1. For example, the computer 522 acquires an image via the network 400 using an image capturing device configured such that an image capturing unit is arranged on a trolley and the height of the image capturing unit is constant, and based on the acquired image, the cut panels P20, P10 are ... may be created.

Both the self-propelled robot (dimension measuring device) 1 and the dimension measuring system 500 described above include the following configuration. That is, the dimension measurement method includes an image input step in which an image including the floor panel P installed on the installation surface 100 and the space C20 between the floor panel P and the structure S is input, and an image in the image acquired in the image input step. A dimension measurement step of measuring the dimension of the space C20 between the floor panel P and the structure S based on the distance L1 of the length of one side of the floor panel P; A cut information creation step of creating shape information indicating the shape of the cut panel P20 according to the shape is included. With this method, the gap between the floor panel P and the structure S can be efficiently measured using edge computing technology without requiring specialized workers.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and modifications, and can be modified as appropriate.

Although the position of the measuring camera 3 in the above embodiment is located between the rear camera 61 and the front camera 62, it is not limited to this configuration. For example, the center of the measuring camera 3 may be configured to be farther away from the pedestal section 21 than the rear camera 61 and the front camera 62. Furthermore, the self-propelled robot 1 of the embodiment described above may further include a marking section that marks the floor on which the floor panel P is installed. In this way, the configuration of the self-propelled robot 1 can be changed as appropriate.

The self-propelled robot 1 can be applied to systems other than the dimension measurement system 500 of the above-described embodiments and modified examples. For example, a configuration may be adopted in which a paper pattern (dimensions) based on the dimensions measured by the self-propelled robot 1 is outputted by a printer or the like, and the floor panel P is cut on site.

1 Self-propelled robot (dimension measuring device)
2 Main unit 3 Measuring camera (imaging unit)
101 Dimension measurement unit 110 Cut information creation unit 111 Space position acquisition unit 112 Panel information management unit 115 Alignment unit 301 Image input unit 302 Dimension measurement unit 303 Cut information creation unit 500 Dimension measurement system

Claims (9)

a main body having a traveling device;
an imaging unit that is disposed in the main body and captures an image including a floor panel installed on an installation surface and a space between the floor panel and the structure;
a dimension measuring unit that measures the dimension of the space based on the length of one side of the floor panel in the image acquired by the imaging unit;
a plurality of position setting imaging units disposed on the same straight line as the imaging unit;
a positioning unit that detects an end face of the floor panel by the position setting imaging unit and determines an imaging position of the imaging unit based on the end face;
A dimension measuring device comprising: The dimension measuring device according to claim 1, further comprising a cut information creation section that creates shape information indicating a shape of the cut panel according to the shape of the space based on the dimensions measured by the dimension measurement section. a space position acquisition unit that acquires space position information indicating the position of the space included in the image;
a panel information management unit that associates the space position information with the shape information and separately manages information on the plurality of cut panels;
The dimension measuring device according to claim 2, further comprising: The dimension measuring device according to claim 1 , wherein the positioning unit controls the traveling device so that the imaging unit is located at the center of one side of the floor panel. further comprising a laser pointer disposed on the main body,
The dimension measuring unit is configured to measure the size based on the dimension between the reference point of the laser pointer irradiated on the structure in the image acquired by the imaging unit and the floor panel, and the dimension of the one side of the floor panel. The dimension measuring device according to any one of claims 1 to 3, which measures dimensions of the space. Further comprising a plurality of laser distance measuring devices arranged on the main body at intervals corresponding to the length of one side of the floor panel,
The dimension measuring device according to any one of claims 1 to 3, wherein the dimension measuring unit measures the dimension of the space based on the distance to the structure obtained by the plurality of laser distance measuring devices. The imaging unit acquires an image including a marking line as a reference line drawn parallel to the one side of the floor panel with respect to the installation surface,
4. The dimension measuring device according to claim 1, wherein the dimension measuring unit measures the dimension of the space based on the dimension of the marking line and the dimension of the one side of the floor panel. When an image including a floor panel installed on an installation surface and a space between the floor panel and the structure is captured by an image capturing device disposed in a main body having a traveling device, an image capturing device disposed on the same straight line as the image capturing device is captured. a positioning unit that detects an end face of the floor panel by a plurality of position setting imaging devices arranged and determines an imaging position of the imaging device based on the end face;
an image input unit into which the image captured by the imaging device is input;
a dimension measuring unit that measures a dimension of a space between the floor panel and the structure based on the length of one side of the floor panel in the image acquired by the image input unit;
a cut information creation unit that creates shape information indicating a shape of the cut panel according to the shape of the space based on the dimensions measured by the dimension measurement unit;
Dimension measurement system equipped with. When an image including a floor panel installed on an installation surface and a space between the floor panel and the structure is captured by an image capturing device disposed in a main body having a traveling device, an image capturing device disposed on the same straight line as the image capturing device is captured. an alignment step of detecting an end face of the floor panel by a plurality of position setting imaging devices arranged, and determining an imaging position of the imaging device based on the end face;
an image input step in which the image captured by the imaging device is input;
a dimension measuring step of measuring the dimension of the space between the floor panel and the structure based on the length of one side of the floor panel in the image acquired in the image input step;
a cut information creation step of creating shape information indicating a shape of the cut panel according to the shape of the space based on the dimensions measured in the dimension measurement step;
Dimension measurement methods including.

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