JPH07116972A - Self-traveling robot for interior finish work - Google Patents

Abstract

PURPOSE:To improve working accuracy and reliability and to enable the field joining of interior finish work by carrying out a building work after the correction of a stop position at the time of stopping at a work position and the correction of the attitude of a manipulator at the work position. CONSTITUTION:In the case where the marking of the attaching position of a fluorescent lamp to the ceiling board 2 of a building is carried out by a working unmanned vehicle 10, first of all, a card is inserted into the work information input-output section 24 of the working unmanned vehicle 10 to read work position information. Next, a main control section 22 computes a distance from a reference position where the working unmanned vehicle 10 stops at the present time to the first work position and its direction on the work position information to control a running control section 24 for running the working unmanned vehicle 10 to the first work position. Next, a position correcting target article is photographed by a visual device 40 to carry out positional correction on the position and distance information of the target article, and then, a work object 2 is photographed by the visual device 40, and after the amendment of the attitude of a manipulator 30, a teaching work domain is corrected, and a fixed work is carried out by the manipulator 30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled working robot for building interior.

[0002]

2. Description of the Related Art A workplace for construction work is a workplace with a severe working environment, and there is an extremely strong demand for automation.

[0003]

However, since there are many types of labor and many detailed work is required, and reliability of work is required, it is difficult to develop an automated device that satisfies these conditions. is there.

In particular, interior work, for example, ceiling work such as ceiling board upholstery or installation of an illumination lamp, is a troublesome work, and it is often difficult to finish according to the design drawing. For example, the edge line of the ceiling board is designed. If it is not as shown in the drawing, and if the marking line of the fluorescent lamp installation line is done by a robot etc., the robot etc. will work according to the design drawing, so after the interior finish, the fluorescent lamp line will be uneven with respect to the edge line of the ceiling board. The interior finish is not as good as it looks.

The present invention has been made to solve this problem, and automatically enables on-site alignment of interior work.
It is an object of the present invention to provide a highly reliable self-propelled work robot for building interior.

[0006]

In order to achieve the above object, the present invention provides a visual device and a manipulator to determine the current position from distance information from a rangefinder and direction information from a direction measuring device. A battery-operated unmanned vehicle capable of traversing and spin-turning, which is self-propelled to the position specified by the work information while detecting, and a target object for position correction, and at the time of the stop, the target object for position correction by the visual device. The position of the target is corrected and the position of the target is corrected based on the distance information.After the position correction, the work target is photographed by the visual device, and the posture of the work target in the photographed screen is relative to the reference posture. If there is a deviation, the posture of the manipulator or / and the work unmanned vehicle is corrected according to the shift, and after this posture correction, the teaching work area is changed based on the position of the work target in the screen. Correct, modified workspace hand, the manipulator executes a predetermined operation after the work is completed, the work unmanned vehicle was configured to self to the next designated position.

According to a second aspect of the present invention, the work target is the ceiling or floor, and the work performed by the manipulator is marking or cutting work.

According to a third aspect of the present invention, the work target is a ceiling board, and the teaching work area is corrected with reference to the ceiling board edge line in the screen.
Self-propelled robot for building interior as described.

According to a fourth aspect of the present invention, the target object for position correction is a portable light source or mark, or a mark on a pillar or wall in the room.

According to a fifth aspect of the present invention, the visual device and the manipulator are arranged on a posture control base, and the posture control base is capable of tilt control.

In claim 6, the work information is given by a magnetic card or an IC card, and the work unmanned vehicle is provided with a reader for reading the work information stored in the card.

[0012]

According to the present invention, the position of the working unmanned vehicle is corrected when the work unmanned vehicle is stopped, and then the position or posture of the manipulator with respect to the work target is corrected, and this correction is performed. After that, the teaching work area is corrected based on the position of the work target on the screen, and the manipulator executes a predetermined work on the corrected work area.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 is a floor, and 10 is a battery type working unmanned vehicle. The work unmanned vehicle 10 is provided with an attitude control table 12 on the upper frame surface of the bogie frame 11, and a manipulator 30 and a visual device 40 such as a TV camera are mounted on the attitude control table 12. A light projector (illuminator) 41 is integrally attached to the visual device 40. The posture control table 12 is supported at its four corners by four telescopic legs 13. The manipulator 30 holds the tool 30A toward the ceiling board 2 side. Reference numeral 14 is a control mechanism for controlling the telescopic legs 13. Reference numeral 15 is a telescopic leg 15 hanging from the four corners of the lower surface of the bogie frame 11, which constitutes a bogie posture fixing portion, and as shown in the figure, the fixing plate 15A at the leg end thereof is always separated from the floor surface. is there. Reference numeral 16 is a drive / steering wheel, and 17 is a free wheel. An image processing unit 21, a main control unit (CPU) 22, a traveling control unit 23 for driving and steering the driving / steering wheels 16, and an IC inserted from the card insertion slot 18 in the bogie frame 11.
A work information input / output unit 24 having a reading unit for reading the data of the card 60 (shown in FIG. 2) and a carriage posture fixing unit control unit 25 are housed. 22A is an arithmetic unit of the main control unit 22, and 22B is a memory unit of the main control unit 22. The work information input / output unit 24 includes a key switch 26 and a monitor display 27. 28 is a manipulator control unit. Reference numeral 19A is an encoder that detects the number of rotations of the drive / steering wheels 16, and 19B is a gyro that measures the orientation of the working unmanned vehicle 10. 50A and 50B are portable light sources such as lasers, which are arranged on the wall side surrounding the floor 1 at three or more intervals.
It is arranged. The light sources 50A and 50B are the work unmanned vehicle 1
It is provided to provide target points P1 and P2 for position correction of zero.

The IC card 60 includes a work position, a work type, a work area, and a manipulator 30 at each work position.
The work procedure, the work program, the operation program of the visual device 40, the target point coordinates for position correction, and the like are written.

In FIG. 1, O ₁₀ indicates the turning center of the working unmanned vehicle 10, and in this example, it coincides with the working point of the manipulator 30.

FIG. 2 is a block diagram showing the control system of the unmanned work vehicle.

Now, it is assumed that the working unmanned vehicle 10 marks the mounting position of the fluorescent lamp on the ceiling board 2 of the building.

(1) First, the card 60 is inserted into the work information input / output unit 24 of the work unmanned vehicle 10. The work information input / output unit 24 reads the position information of the work position among the work information written in the IC card 60 according to a command from the main control unit 22. This position information is written in the memory 22B of the main control unit 22.

(2) The main control unit 22 reads the work position information stored in the memory 22B, and the distance L1 from the reference position So at which the unmanned work vehicle 10 is currently stopped to the first work position S1 and the azimuth α1. Is given and the calculated result is given to the running control unit 24 as a running command. Work drone 10
Is the distance information from the encoder 19A and the gyro 19B.
Based on the azimuth information as the feedback information, the vehicle travels according to the above command, travels to the first work position S1, and stops.

(3) Work The unmanned vehicle 10 stops when it travels in the commanded direction α1 by the commanded distance L1. The stop position at this time is S1 '. At this time, the visual device 40 directs the visual field center O ₄₀ in the horizontal direction, and
A shooting operation for shooting 0A and the light source 50B is performed. The image from the visual device 40 is sent to the image processing unit 21, and the image processing unit 21 detects the positions (coordinates) of the target points P1 and P2 in the image.

(4) The main controller 22 controls the target points P1 and P2.
From the position and the stop position S1 ′, the current stop position S1 ′ of the unmanned work vehicle 10 is calculated by the triangulation method. If the calculation result does not match the work position S1, the position correction amount (distance) is calculated. It calculates and commands the travel controller 23 to perform position correction.

When the position correction is completed, the posture fixing unit control unit 2
5 controls the telescopic leg 15. As a result, the fixed plate 15A of the telescopic leg 15 engages with the floor 1 in a pressure contact manner.

(5) When the position correction and fixing of the work unmanned vehicle 10 are completed, the ceiling board 2 is photographed with the image pickup surface of the visual device 40 facing the ceiling board 2 as shown by the chain double-dashed line in FIG. . The screen at this time is shown in FIG. O is the center of the screen,
X and Y indicate the screen reference line, and the shaded area surrounded by the solid line indicates the work area designated by the work information. Also, 2X, 2Y
Indicates a horizontal edge and a vertical edge of the unit ceiling board 2a, and x and y indicate a horizontal line and a vertical line that divide the work area. It should be noted that O is also the midpoint of work in teaching.

In the screen of FIG. 3, the visual device 40 is displaced from the ceiling board 2 by an angle θ in the horizontal plane. The image processing device 21 detects the coordinates of the joints 2X and 2Y of the ceiling board 2 and sends them to the main control unit 22. The main control unit 22 has a seam 2
The angle θ is calculated from the coordinates of X, 2Y and the coordinates of the screen reference lines X, Y, and the traveling control unit 23 is instructed to turn the work unmanned vehicle 10 by the angle θ.

When the visual device 40 is tilted with respect to the ceiling board 2 in the vertical direction by the angle γ, the main controller 22
Instructs the telescopic leg control unit 14 to correct the angle γ. The telescopic leg control unit 14 calculates the respective telescopic amounts of the four telescopic legs 13 based on the given correction amount γ, and controls the telescopic legs 13.

FIG. 4 shows a screen after performing these posture correction operations.

(5) In FIG. 4, the 2X line of the ceiling board is displaced from the screen reference line X by Δ1 and is displaced from the horizontal line x of the work area by Δ2.

The main control unit 22 calculates the distance between the 2X line of the ceiling board and the screen reference line X or the x line of the work area, and as shown in FIG. As shown in 6, the working midpoint O is displaced by Δ2 so that the 2X line of the ceiling board coincides with the horizontal line x of the working area.

(6) The main control unit 22 reads out the work program and work procedure from the IC card 60, and instructs the manipulator control unit 28 in accordance with this work program. The manipulator 30 executes the work according to this command. In this example, the manipulator 30 position-controls the tool 30A that has returned to the origin coordinates to the working start point (working point after the shifting), and starts the work.

(7) When the above-mentioned work of the manipulator 30 is completed, the main control section 22 reads the next work position information from the IC card 60, and the distance L2 from the work position S1 to the next work position S2 and the azimuth α2. Is given and the calculated result is given to the running control unit 24 as a running command. The operation unmanned vehicle 10 travels according to the above command using the distance information from the encoder 19A and the azimuth information from the gyro 19B as feedback information, travels to the work position S2, and stops.

Then, the above sequences (2) to (6) are repeated.

In the present embodiment, the working unmanned vehicle 10 does not travel while detecting the magnetic tape, optical tape, marks, etc. installed on the floor surface, and therefore these guide bodies are unnecessary.

Further, at the time of stopping at the work position, the position of the work unmanned vehicle 10 is corrected, and after performing the position correction,
The position or orientation of the manipulator 30 with respect to the work target is corrected, and after this correction, it is judged whether or not the teaching work area is deviated from the actual work area. After the correction, the manipulator 30 performs the work, so that the work accuracy becomes extremely high.

Further, since the deviation between the teaching work area and the actual work area is carried out based on the actual appearance imaged by the visual device, even if the interior work is deviated from the design drawing, it is suitable for the constructed interior. Can perform the required work.

For example, when a plurality of fluorescent lamps are mounted on the ceiling and the seam of the constructed ceiling board is deviated from the design drawing, if the unmanned vehicle 10 carries out the work at the fluorescent lamp mounting position on the design drawing. , The fluorescent lamp mounting line is uneven with respect to the seam line of the ceiling board,
Although it does not look good, in this embodiment, the fluorescent lamp line can be aligned with the seam line of the ceiling board, resulting in a good-looking interior finish. That is, in this embodiment,
On-site automation can be achieved. In addition, although the ceiling work has been described in the above-mentioned embodiment, the floor work can be similarly performed by providing the manipulator for the floor work in the lower portion of the bogie frame.

Further, although the light sources 50A and 50B are used to provide the target points P1 and P2 for position correction of the working unmanned vehicle 10, a mark is provided on a pillar or a wall, and this is used as the target point P1 and P2. It may be P2.

Although the work information is given by the IC card 60, a magnetic card may be used and the key switch 26 may be used.
It may be given by the operation of.

[0039]

As described above, according to the present invention, the manipulator performs the work after performing the correction of the rest position at the work position and the posture correction of the manipulator at the work position. Extremely high,
The reliability is improved and the interior work can be adjusted at the site, so the interior can be finished beautifully.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a block diagram showing a control system of the above embodiment.

FIG. 3 is a diagram showing an example of a screen of the visual device according to the above embodiment.

FIG. 4 is a diagram showing an example of a screen of the visual device according to the embodiment.

FIG. 5 is a diagram showing an example of a screen of the visual device according to the embodiment.

FIG. 6 is a diagram showing an example of a screen of the visual device according to the embodiment.

[Explanation of symbols]

 1 floor 2 ceiling board 11 bogie frame 18 card insertion slot 19A encoder 19B gyro 21 image processing unit 22 main control unit 23 traveling control unit 24 input / output unit 25 telescopic leg control unit 26 bogie posture fixing unit control unit 28 manipulator control unit 30 manipulator 40 Visual device 50A, 50B Light source 60 IC card

Claims (6)

[Claims] 1. A visual device and a manipulator are mounted, and the vehicle can detect the current position from the distance information from the rangefinder and the direction information from the direction measuring device, and self-propelled to the position specified by the work information. Equipped with a battery-powered work unmanned vehicle and a target for position correction, and when the vehicle is stopped, the target for position correction is photographed by the visual device and position correction is performed based on the position of the target and the distance information. After the position correction, the work target is photographed by the visual device, and when the posture of the work target in the photographed screen is deviated from the reference posture, the manipulator or / and the work is performed according to the deviation. The posture of the unmanned vehicle is corrected, and after this posture correction, the teaching work area is corrected based on the position of the work target in the screen, and the manipulator makes a predetermined adjustment to the corrected work area. A self-propelled robot for building interior, characterized in that after performing work, the work unmanned vehicle is self-propelled to the next designated position after completion of this work. 2. The self-propelled robot for interior building according to claim 1, wherein the work target is a ceiling or a floor, and the work performed by the manipulator is marking or cutting work. 3. The self-propelled robot for interior construction according to claim 1, wherein the work target is a ceiling board, and the teaching work area is modified based on the ceiling board edge line in the screen. . 4. The self-propelled robot for interior construction according to claim 1, wherein the position correction target is a portable light source or mark, or a mark written on a pillar or wall in the room. 5. The self-propelled robot for interior construction according to claim 1, wherein the visual device and the manipulator are arranged on an attitude control table, and the attitude control table can control elevation and tilting. 6. The work information is given by a magnetic card or an IC card, and the work unmanned vehicle is equipped with a reader for reading the work information stored in the card. Self-propelled work robot for building interior.