KR102281664B1 - smart drilling machine, smart drilling system and a control method of the same - Google Patents

Abstract

The present invention relates to an automatic drilling robot, an automatic drilling robot system, and a method thereof and, more specifically, to an automatic drilling robot, an automatic drilling robot system, and a method thereof, which automatically perform drilling at an accurate position by mapping design coordinates and real coordinates based on a total station. According to one embodiment of the present invention, the smart drilling system comprises: a terminal mapping design space and real space, and having drilling position information in the design space; a drilling machine having a drill for drilling, and performing drilling in the real space through operation control of the terminal based on the drilling position information; and a total station acquiring reference point position information of the real space for mapping the design space and the real space and position information of the drilling machine in the real space, and transferring the reference point position information of the real space and the position information of the drilling machine to the terminal. The terminal is provided with a menu area and a display area. A view having drilling position information through mapping information of the design space and the real space, position information of the total station, and the position information of the drilling machine is displayed on the display area.

Description

Smart drilling machine, smart drilling system, and control method thereof {smart drilling machine, smart drilling system and a control method of the same}

The present invention relates to an automatic drill robot, an automatic drill robot system, and a method therefor, and an automatic drill robot, automatic drill robot system and It's about the way.

In general, many perforated points are formed on the ceiling of a building. It is necessary to support various ceiling structures such as water pipes, fire pipes, and air conditioning equipment such as sprinklers or air conditioners. The ceiling structure is supported on the ceiling through anchor bolts, so it is essential to drill a hole in the ceiling to install the anchor bolts.

Of course, the number or positions of the perforated points on the ceiling may be different depending on the purpose of the building. Naturally, the more the number of perforation points, the more difficult it is to perforate, and the time required for perforation work is inevitably long.

In the case of a small building, it is common for an operator to manually drill a hole in the ceiling surface. At this time, the operator has a lot of trouble to frequently move the position of the ladder or pedestal according to the position of the perforation. Of course, it can be said that it is very difficult to manually drill the ceiling due to the inconvenience of the working posture.

In the case of a relatively large building, the area to be perforated increases, and thus the number of perforation points also increases. When the ceiling height is high, an aerial platform is used, and it takes a lot of time to lift and lower the aerial platform as well as direct drilling. This is because, after drilling at a specific location, it is necessary to move the aerial platform in order to perform the drilling in another location. At this time, for safety, the aerial platform must be lowered and then moved. In addition, after the aerial platform is moved, it is necessary to raise the aerial platform to the working height again. Therefore, it can be said that it is very disadvantageous in terms of efficiency to manually perform a large-scale drilling operation, particularly in a high-ceiling work environment.

When drilling in large quantities, accuracy as well as efficiency are very important. In other words, the drilling must be performed precisely at the designed position. Here, when the ceiling surface is flat, the perforation point must be formed at the correct position in the planar coordinates. This is because, if not, many difficulties in forming the ceiling structure will inevitably occur.

When the operator directly performs the perforation using a drill, marking the perforation position may also be performed manually. That is, it is common to perform drilling through a drill after marking the drilling positions one by one with reference to the design.

Therefore, it is not easy to mark the position of the perforation, and the accuracy is inevitably lowered. As a result, the accuracy of the perforation is lowered, and the probability of occurrence of an unworked perforation point after completion of the perforation work is inevitably increased. If the unworked perforation point is later confirmed, the work efficiency is remarkably lowered because there is no choice but to perform the perforation work again.

An object of the present invention is to provide a drill machine, a drill system, and a method for controlling a drill system that can perform a drilling operation more accurately, quickly and safely.

Through one embodiment of the present invention, it is intended to provide a drill machine, a drill system, and a method of controlling a drill system capable of setting a plurality of perforation points in a batch and, if necessary, setting a specific single perforation point.

Through one embodiment of the present invention, it is intended to provide a drill machine, a drill system, and a method of controlling a drill system capable of automatically drilling a plurality of punching points and automatically drilling a specific single punching point if necessary. Through this, it is intended to provide a drill machine, a drill system, and a control method of a drill system that can be flexibly dealt with according to the field situation.

It is an object of the present invention to provide a drill machine, a drill system, and a method for controlling a drill system that can flexibly apply design information for punching points provided in various forms through an embodiment of the present invention. Through this, it is intended to provide a drill machine, a drill system, and a control method of a drill system that can be easily used even if the field situation or design form is changed.

Through an embodiment of the present invention, a drill that can easily connect the drill machine and the total station through a PC (terminal) that controls the drill machine and the total station, and at the same time, can easily grasp the status information of the drill machine and the total station To provide a method for controlling a machine, a drill system, and a drill system.

Through one embodiment of the present invention, a drill machine, a drill system, and a control method of a drill system that can minimize the movement of the drill machine when drilling the entire drilling point to reduce the time required to drill the entire drilling point is provided want to

Through an embodiment of the present invention, a drill machine capable of grasping the optimal movement path in the movement of the drill machine by identifying the perforation possible point at the current position of the drill machine and displaying the perforation possible point on the PC (terminal), A drill system and a method for controlling a drill system are provided.

Through an embodiment of the present invention, by visually distinguishing and displaying the entire perforation point, perforation possible point, perforation completion point, and perforation progress point from each other, the operator can intuitively grasp the current perforation work state, drill machine, drill It is intended to provide a system and a control method of a drilling system.

Through an embodiment of the present invention, by setting any one of the three reference points for grasping the working area of the drill machine as the reference position point of the drill machine, the drill that can reduce the time required to determine the perforation possible point To provide a method for controlling a machine, a drill system, and a drill system.

Through an embodiment of the present invention, when performing continuous drilling, by minimizing the path that the position adjusting device of the drill machine moves between the drilling and the drilling machine, the drill machine, the drill system that can reduce the time required for the drilling And to provide a control method of a drill system.

Through an embodiment of the present invention, in spite of construction errors such as errors due to the state of the floor where the drill machine is located, the ceiling surface where the drilling is performed, and vibration, a drill capable of performing drilling at an accurate depth at an accurate location To provide a method for controlling a machine, a drill system, and a drill system.

Through one embodiment of the present invention, the PC (terminal) communicates with the drill machine in real time to obtain the state information of the drill machine, control the operation of the drill and the position adjusting device of the drill machine, and the total station from the PC (terminal) It is intended to provide a drill machine, a drill system, and a control method of the drill system that can minimize the change in the control logic of the drill machine and the total station itself by communicating with the operator in real time to obtain the location information of the drill machine.

In order to achieve the above object, according to an embodiment of the present invention, a terminal (PC) that maps a design space and an actual space, and has perforation location information in the design space; A drilling machine provided with a drill for drilling and performing drilling in the real space through operation control of the terminal based on the hole location information (smart drilling machine, smart drilling robot); And the reference point position information of the real space for mapping the design space and the real space and the position information of the drill machine in the real space are obtained, and the reference point position information of the real space and the position information of the drill machine are transmitted to the terminal. It is possible to provide a smart drill system including a total station provided to deliver.

Here, the terminal may be a tablet PC, a desktop PC, or a laptop PC. However, since it should be easy to carry and operate at the work site, the terminal is preferably a tablet PC. However, the shape, type and size of the PC may be easily changed and deformed.

The terminal may be provided with a display area. It is preferable that the view having the location information of the drilling hole, the location information of the total station and the location information of the drill machine is displayed in the display area through the mapping information between the design space and the real space.

It is preferable to display after recognizing the total station and the drill machine in the view terminal having the hole location information, the total station location information, and the drill machine location information. In addition, it is preferable that the hole location information, the total station location information, and the location information of the drill machine are sequentially added and displayed together.

First, a view having perforated location information may be displayed first, and then a view in which total station location information is added to this view may be displayed. Then, the view to which the location information of the drill machine is added to this view can be displayed.

Therefore, the operator can intuitively perform the work for the drilling preparation through the view that changes sequentially for the drilling.

It is preferable that a sub-menu for zooming in/out, rotating a view, and changing a viewpoint is provided in the display area. It is possible to easily grasp the site drawings designed in 3D through various viewpoints such as a plan view.

The terminal may be provided with a menu area. Preferably, the menu area is positionally separated from the display area on the display of the PC. The menu area may be located above the display, and the display area may be located below the menu area. Preferably, a large portion of the display is occupied by the display area.

Preferably, in the menu area, a menu for communication connection between the terminal and the total station and a menu for communication connection between the terminal and the drill machine are provided.

The menus in the menu area are preferably arranged in consideration of the order of the punching operation. Accordingly, menus for connection between the components for preparing the perforation may be provided on the leftmost side of the display. Thereafter, menus corresponding to the work order may be sequentially provided to the right.

In the menu area, a work menu for distinguishing a plurality of real spaces to be perforated from each other may be provided.

By dividing a series of drilling operations that take a long time into a plurality of units, it is possible to facilitate operation management. A series of perforation works can be named separately for each floor or space of a building. For example, the first floor space may be divided into A sector, B sector, and C sector on the first floor, and each job name may be set. Each job name can be set through the new job menu, and if one job is not completed, the existing job can be recalled through the job open menu.

In the menu area, a drawing opening menu for inputting a drawing having perforation location information in the design space and displaying the input drawing in the display area may be provided.

A design drawing matching the above-mentioned work name can be called through the open drawing menu.

Design drawings may have different formats depending on the designer. A perforation point may be displayed in one 3D drawing, and a perforation point may be displayed in a 2D drawing with respect to one 3D drawing. In addition, the perforation point may be displayed as a filled circle or may be displayed as an empty circle.

Accordingly, after the drawing is called through the open drawing menu, it may be necessary to extract the perforation point on the displayed drawing.

The terminal may be provided with a perforated coordinate display area separated from the menu area and the display area.

When the perforated point is extracted from the displayed drawing, it may be displayed on the perforated coordinate display area so that the coordinates of the extracted perforated point are distinguished from each other.

Specifically, the perforated points are visually displayed in the display area, but the perforated points may be displayed in perforated coordinates, that is, numerically in the perforated coordinate display area. In addition, a punching point name that distinguishes each punching point may be displayed. In addition, state information for each perforation point may also be displayed. That is, in the perforated coordinate display area, the coordinates of the perforated point and the state of the perforated point may be displayed together.

A sub-menu for adding the coordinates of the punching point may be provided in the punching coordinate display area.

The sub-menu is at least one of a drawing menu for adding the coordinates of a punching point to a drawing, a file menu for adding the coordinates of a punching point to a spreadsheet file, and a coordinate menu for the user to write and add the coordinates of the punching point may include any one.

Preferably, the menu area includes a reference point setting menu for obtaining the reference point location information in the real space from the total station and displaying the location of the total station in the display area.

The reference point in real space may be three reference points having different coordinates from each other. The three reference points must know their actual coordinates. Using this, real space and design space can be mapped. A transformation matrix for mapping the real space and the design space in the PC is obtained, and through this, the two spaces can be mapped.

In the display area, after the position of the total station is displayed, when the position information of the drill machine is obtained by collimating the drill machine in the total station, the position of the drill machine is preferably displayed.

The space shown in the display area and the real space are mapped. That is, the 3D real space is displayed as the mapped 3D space in the display area. In other words, it can be said that the real space is realized on the display. The view on the display can variously change the viewpoint as described above.

After the location information of the drill machine is obtained, the drill machine is preferably operated to obtain location information of three different drill machine working areas from the total station.

The drilling machine must be moved for drilling the entire real space. This is because the area that can be drilled through the positioning device in the fixed state of the drill machine is limited.

Therefore, a reference point for setting the reference position of the drill machine should be provided. Likewise, it is necessary to figure out the area where the drill machine can drill at the current drill machine position. For this purpose, three pieces of drill machine work area location information may be required.

Here, any one of the three drill machine work area position information may be a reference point of the drill machine.

Specifically, when the location information of the drill machine is acquired, the location of the drill machine in the design space can be grasped. However, the exact direction or shape of the drill machine cannot be grasped. Therefore, it is necessary to convert the coordinate system of the drill machine into the design space coordinate system. In other words, the correct direction of the drill machine can be confirmed by grasping the position information of the three drill machine work areas, and through this, it is possible to grasp the possible drilling point at the current position.

The displacement that the drill can move in 3 axes or 3D for drilling at the current drill machine position is preset by the drill machine specification. These specifications can be known from the control unit of the drill machine or from the PC.

Therefore, if the location information of the three drill machine work areas is identified, the real space and the drill machine work area can be mapped. That is, since the direction of the drill machine is grasped by changing the coordinate system of the drill machine to the coordinate system of the design space, it is possible to grasp the possible point of the drilling at the current position. This means that it is possible to map the displayed space of the PC to the working area of the drilling machine. Here, the drill machine work area may be referred to as a drill machine work space. However, in many cases, the drill machine performs drilling on the same plane as the ceiling surface, so it is called the drill machine work area for convenience.

It is preferable that the menu area is provided with a perforation possible point confirmation menu for identifying a perforation possible point at the current position of the drill machine based on the location information of the three drill machine working areas.

If you select the perforation possible point check menu, the drill machine moves to the three working areas on the PC sequentially. Specifically, the position adjusting device for adjusting the position of the drill operates to move to three reference positions.

The total station acquires location information for three reference locations and transmits it to the PC. Through this, the PC can change the drill machine coordinate system to the design space coordinate system to determine the exact direction of the drill machine, and to determine the possible drilling points at the current drill machine position for all drilling points.

When the perforation possible point confirmation menu is selected, the perforation possible point and the remaining perforation points may be displayed so as to be distinguished from each other in all perforation points in the display area. Accordingly, the operator can visually and intuitively grasp the progress of the drilling operation through the display.

In the menu area, a punching menu may be provided for selecting the punchable points to be punched sequentially. When the perforation menu is selected, a plurality of perforation possible points can be perforated sequentially and collectively. Accordingly, it is possible to minimize the operator inputting a command for the drilling.

When the perforation menu is selected, it is preferable that the perforation possible point, the perforation progress point, and the perforation completion point are displayed so as to be visually distinguished from each other as perforation progresses. Accordingly, the operator can visually and intuitively grasp the progress of the drilling.

The punching coordinate display area may be provided with a selection point punching menu for selecting to punch a specific punching point among the punching possible points. It may be provided to drill a special punching point in a special situation. In the case of adding one special perforation point rather than the addition of a collective perforation point, the perforation can be flexibly performed through the selection point perforation menu. Therefore, it is possible to use a flexible drill machine according to the field situation through two drilling modes, a mode for drilling a plurality of drilling points and a mode for drilling a single drilling point.

The specific punching point may be selected by clicking a specific punching point in the display area or clicking a specific punching point displayed in the punching coordinate display area.

In order to achieve the above object, according to an embodiment of the present invention, in the smart drill machine for performing a hole through the drive control of the external terminal, the smart drill machine, the drill; a positioning device provided to move the drill in three axes for perforation; a prism provided to acquire the location information of the smart drill machine through tracking in an external total station; a moving device for supporting the drill machine with respect to the floor surface of the real space and moving the position adjusting device in parallel with respect to the floor surface of the real space; and a lifting device provided between the moving device and the position adjusting device to adjust the height of the initial position of the drill, wherein the smart drill machine performs a single drilling mode and a plurality of drilling modes through the control of the terminal may be provided to do so.

In the single drilling mode, the positioning device may be driven to sequentially move the drill to a home position, a margin position with respect to a punching point, a punching position, and a home position.

In the multiple drilling mode, the positioning device may be driven to move the drill from the drilling position after drilling of a specific drilling point to a marginal position before drilling for the next drilling point.

The driving pattern of the positioning device for punching the first punching point in the multiple punching mode and the driving pattern of the positioning device after punching the last punching point may be the same as the single punching mode. However, the driving pattern of the positioning device when punching the intermediate punching points is different. That is, the drill does not return to the home position at this time. Through this, it is possible to significantly reduce the time required for perforation in the case of multiple perforations.

Here, the home position of the drill may be the home position of the drill machine or the home position of the positioning device. When the positioning device has the lowest and most stable posture, it can be referred to as the home position or the reference position of the drill machine.

Preferably, the margin position is a position spaced apart by a predetermined distance downward from the design puncture point position in consideration of construction errors. The margin position may be approximately 5 to 10 centimeters lower than the designed drilling start point.

The ceiling surface on which the perforation is performed may be constructed higher or lower than the actual designed height. In this case, there is a high probability that accurate drilling may not be performed depending on the designed drilling depth.

Preferably, the position adjusting device includes a sensor for moving the drill from the margin position until it comes into contact with the ceiling surface, and for detecting a position where the drill comes into contact with the ceiling surface. That is, if the ceiling surface contact position is grasped, the perforation can be performed from this position to the designed perforation depth. Therefore, even if a construction error occurs, the correct drilling can be performed according to the designed drilling depth.

In order to achieve the above object, according to an embodiment of the present invention, a setting step of communicating with a total station and a drill machine in a terminal, and displaying information on the position of the hole in the design space; a first measurement step of obtaining reference point position information in real space from the total station and transmitting the information to the terminal; a first matching step of displaying the position of the total station in the terminal; a second measurement step of acquiring the position information of the drill machine from the total station and transmitting it to the terminal; a second matching step of displaying the position of the drill machine in the terminal; and a drilling step of performing a drilling in any one of a single drilling mode for drilling a single holed point through the drill of the drill machine and a plurality of drilling modes for sequentially drilling a plurality of drilling points. A control method may be provided.

The control method of the smart drill system includes a third measurement step of operating the drill machine so as to have three drill machine work area positions, and acquiring the three drill machine work area position information from the total station and transmitting it to the terminal may include. The third measuring step may be performed after the second matching step.

The control method of the smart drill system may include a drilling preparation step of displaying a drilling possible area or a drilling possible point in the terminal at the position of the current drilling machine. The drilling preparation step may be performed after the third measuring step.

In the perforation step, perforation may be performed for a perforation point or perforation possible point within the perforation possible area displayed in the perforation preparation step.

The terminal may control the position adjusting device to sequentially move the drill to a home position, a margin position with respect to a perforation point, a perforation position, and a home position in a single perforation mode.

The terminal may control the position adjusting device to move the drill from a punching position after punching of a specific punching point to a marginal position before punching for the next punching point in a multiple punching mode.

The setting step may include inputting a drawing having perforation location information in the design space and displaying the input drawing in the display area.

The setting step may include extracting a perforation point from the displayed drawing, and displaying the coordinates of the extracted perforation point.

The setting step may include adding a perforation point through any one of an additional drawing, a spreadsheet file, or a coordinate description in the displayed drawing.

In order to achieve the above object, according to an embodiment of the present invention, a terminal (PC) that maps a design space and an actual space, and has perforation location information in the design space; A drilling machine provided with a drill for drilling and performing drilling in the real space through operation control of the terminal based on the hole location information (smart drilling machine, smart drilling robot); And the reference point position information of the real space for mapping the design space and the real space and the position information of the drill machine in the real space are obtained, and the reference point position information of the real space and the position information of the drill machine are transmitted to the terminal. A smart drill system, comprising a total station provided to deliver, wherein the terminal identifies and displays a perforation possible area or a perforated point at the current position of the drill machine through the location information of the drill machine. can be

The drill machine may include: a positioning device provided to move the drill in three axes for perforation; And a prism for acquiring the position information of the drill machine in the total station may be provided.

The prism may be provided in the position adjusting device. The home position of the positioning device, that is, the prism position at a preset stable position may be referred to as a home position of the drill machine.

As the positioning device is driven, the position of the prism is changed. Accordingly, the reference position of the drill machine is also changed.

On the other hand, when the entire drill machine moves, it is necessary to move the drill machine in a stable posture. That is, it is possible to prevent a safety accident during movement by moving the drill machine in a state where the center of gravity is lowered. Accordingly, the drill machine can be moved from the home position of the positioning device, that is, the home position of the drill machine. In other words, when all the drilling through the drill machine at the current position is finished, the position adjusting device returns to the home position, and thereafter, the drill machine can be moved.

The relative position of the prism with respect to the drill is fixed, and it is preferable that the three-axis movement displacement and angle of the drill and the prism are the same when the position adjusting device is driven. That is, the drill and the prism are preferably moved as one body.

The drill machine may include a moving device for supporting the drill machine with respect to the floor surface of the real space and moving the position adjusting device in parallel with respect to the floor surface of the real space.

The moving device may include wheels or caterpillars, and may be provided to be moved manually or electrically. A handle for manually moving may be provided, and a manipulation unit for electrically moving may be provided. Such a manipulation unit may be provided in the drill machine separately from the terminal. Of course, a separate remote controller may be provided for remote control.

The drill machine may be provided with a lifting device provided between the moving device and the position adjusting device to adjust the height of the initial position of the drill. The hoisting device may be operated manually or electrically. In the case of electrically operated, a manipulation unit may be provided. Such a manipulation unit may be provided in the drill machine separately from the terminal. Of course, a separate remote controller may be provided for remote control.

The positioning device is a robot including a plurality of arms, and the drill and the prism may be provided on the arm provided at the distal end.

Among the plurality of arms of the robot, the arm provided at the end has a larger vertical variable area than other arms. That is, it is an arm that can be located in the highest position. Therefore, the arm provided at the distal end is the arm that can most accurately represent the current height of the positioning device. It would be desirable for such an arm to be equipped with a prism.

The position information of the drill machine may include reference position information of the drill machine and position information of three robot work areas according to a preset driving of the robot.

The reference position information of the drill machine may be home position information of the position adjusting device, as described above. It is preferable that any one of the three robot work area position information is the home position information of the position adjusting device.

Location information acquisition at the home location, location information acquisition at the first work area location, and location information acquisition at the second work area location may be performed. Here, the home position, the second working position, and the third working position are preset according to the specifications of the drill machine or robot. That is, it can be seen that the prism moves to these positions by a preset driving of the positioning device or the robot. Thus, the working area space of the drill machine can be mapped with the design space. Through this, it is possible to grasp the workable area of the drill machine in the real space.

Preferably, the terminal controls the robot to move to the positions of the three robot areas. The total station may sequentially acquire the position information of the three robot work areas and transmit it to the terminal.

The position information of the three robot work areas can be acquired through the operator's total station collimation or the total station's prism tracking.

Preferably, the terminal displays the entire perforation point, the current perforation possible point, the perforation completion point, and the perforation progress point to be visually distinguished from each other.

It is possible to acquire the position information of the drill machine by tracking the total station and the prism in real time. Accordingly, when the entire drilling machine is moved, the total station may detect the movement path of the drilling machine in real time and transmit it to the terminal. Accordingly, the terminal can display the drill machine and the movement path of the drill machine on the display in real time.

It is preferable that the drill machine includes a tilt sensor for sensing a 3-axis tilt, and the sensing value of the tilt sensor is transmitted to the terminal.

Preferably, the terminal controls the driving of the position adjusting device and the driving of the drill.

It is preferable that the drill machine transmits state information about the driving of the position adjusting device and the drill to the terminal.

In order to achieve the above object, according to an embodiment of the present invention, in the smart drill machine for performing a hole through the drive control of the external terminal, the smart drill machine, the drill; a positioning device provided to move the drill in three axes for perforation; a prism provided to acquire the location information of the smart drill machine through tracking in an external total station; a moving device for supporting the drill machine with respect to the floor surface of the real space and moving the position adjusting device in parallel with respect to the floor surface of the real space; and a lifting device provided between the moving device and the position adjusting device to adjust the height of the initial position of the drill, and in the terminal, the perforation area or perforation possible point of the drill machine is identified through the total station. In order to do so, the position adjusting device may be provided with a smart drill machine, characterized in that the prism moves to the three drill machine working area positions by a preset drive.

It is preferable that the smart drill machine includes a tilt sensor for sensing a 3-axis tilt, and the sensing value of the tilt sensor is transmitted to the terminal.

It is preferable that the position adjusting device and the drill are driven through the control of the terminal, and it is preferable to transmit state information about the driving of the position adjusting device and the drill to the terminal.

The positioning device is preferably a robot having a plurality of arms.

In order to prevent the error of the actual drilling depth due to the construction error, it is preferable that a sensor for detecting contact with the ceiling surface when the drill is raised is provided, and the sensing value of the sensor is transmitted to the terminal.

After the drill is in contact with the ceiling surface, it is preferable to perforate to a predetermined depth based on the contact position with the ceiling surface.

In order to achieve the above object, according to an embodiment of the present invention, a setting step of communicating with the total station and the drill machine in the terminal, and displaying information on the location of the hole in the design space; a first measurement step of obtaining reference point position information in real space from the total station and transmitting the information to the terminal; a first matching step of displaying the position of the total station in the terminal; a second measurement step of acquiring the position information of the drill machine from the total station and transmitting it to the terminal; a second matching step of displaying the position of the drill machine in the terminal; a third measurement step of operating the drill machine so as to have three drill machine work area positions, sequentially acquiring the three drill machine work area position information from the total station, and transmitting it to the terminal; A drilling preparation step of displaying a drilling possible area or a drilling possible point in the terminal at the position of the current drilling machine; And the control method of the smart drill system, characterized in that it comprises a drilling step of performing a drilling through the drill of the drill machine can be provided.

When all of the drilling steps are completed at the current location of the drill machine, it is preferable that the total station transmits the location information of the drill machine obtained by tracking the movement of the drill machine in real time to the terminal.

When the position of the drill machine is moved, it is preferable that the movement path of the drill machine is displayed on the terminal.

In the drilling step, it is preferable that the entire perforation point, the current perforation possible point, the perforation completion point, and the perforation progress point are displayed on the terminal to be visually distinguished from each other.

The setting step may include inputting a drawing having perforation location information in the design space and displaying the input drawing in the display area.

The setting step may include extracting a perforation point from the displayed drawing, and displaying the coordinates of the extracted perforation point.

In order to correct an error caused by the state of the floor on which the drill machine is located, the method may include transmitting a sensed value from a 3-axis inclination sensor provided in the drill machine to the terminal.

In order to achieve the above object, according to an embodiment of the present invention, a terminal for mapping a design space and an actual space, and having perforation location information in the design space; a drill machine having a drill for drilling and performing drilling in the real space through operation control of the terminal based on the hole location information; And the reference point position information of the real space for mapping the design space and the real space and the position information of the drill machine in the real space are obtained, and the reference point position information of the real space and the position information of the drill machine are transmitted to the terminal. a total station provided to deliver, the terminal grasps the contact position of the ceiling surface of the drill through a sensor provided in the drill machine, and the terminal sets the drill of the drill machine to the home position and perforation point A smart drill system can be provided, characterized in that the drive of the drill machine is controlled so that the margin position, the ceiling surface contact position, and the perforation position are distinguished from each other.

Preferably, the margin position is a position spaced apart by a predetermined distance downward from the design puncture point position in consideration of construction errors.

Preferably, the terminal controls the drill so that the drill is driven for perforation after the drill is in contact with the ceiling surface.

The drill machine is controlled to move the drill upward from the margin position, and this upward movement is preferably performed until the drill is in contact with the ceiling surface. Therefore, when the drill is in contact with the ceiling surface, the contact position can be grasped. And, it is preferable not to drive the drill until the drill is in contact with the ceiling surface.

The terminal, it is preferable to control the drill to perform the drilling to the design depth based on the position in contact with the ceiling surface. Therefore, even if an error occurs in the construction of the ceiling surface, it is possible to perform the drilling of the correct depth.

It is preferable that the drill machine includes a tilt sensor for sensing a 3-axis tilt, and the sensing value of the tilt sensor is transmitted to the terminal.

The terminal, through the sensing value of the inclination sensor, it is preferable to correct the error due to the state of the floor surface on which the drill machine is placed.

The terminal, through the sensing value of the inclination sensor, it is preferable to reduce the error generated by the vibration of the drill machine or to correct the error.

When the vibration of the drill machine occurs, the error may occur randomly. Accordingly, when the inclination value is randomly changed through the inclination sensor, the driving of the position adjusting device may be stopped, and the position adjusting device may be driven again after the vibration stops. Therefore, it is possible to significantly reduce the occurrence of errors due to vibration of the drill machine.

The terminal, through the sensing value of the inclination sensor, determines the time when the drill starts to move from the margin position to the ceiling surface contact position or when the drill starts to move from the ceiling surface contact position to the drilling position Smart drill system, characterized in that.

Preferably, the drill machine includes a prism for acquiring position information of the drill machine by collimating or tracking the total station.

It is preferable that the prism and the inclination sensor are provided as a single body, and the prism and the inclination sensor are provided to move integrally with the drill. That is, the prism and the inclination sensor may be integrally manufactured and provided.

Preferably, the terminal controls the drill to sequentially move to the home position, the margin position for the punching point, the ceiling surface contact position, the punching position, and the home position in the single drilling mode.

The terminal, in the multiple drilling mode, it is preferable to control the drill to move from the drilling position after the drilling of a specific drilling point to the margin position before the drilling for the next drilling point. Therefore, it is possible to significantly reduce the time required for the drill to move from the drilling to the next drilling.

It is preferable that the terminal controls the drill machine to be driven to three drill machine working area positions in order to identify a perforation point that can be drilled at the current position of the drill machine.

Preferably, the home position of the drill is one of the three drill machine working area positions. The home position of the drill may be referred to as the home position of the positioning device and may also be referred to as the home position of the drill machine.

Preferably, the total station collimates the drill machine and transmits the location information of the three drill machine working areas to the terminal. Therefore, the terminal can grasp the drilling possible area or the drilling possible points at the current position of the drill machine.

It is preferable that a menu for selecting a single punching mode for punching a single punching point and a plurality of punching modes for sequentially punching a punchable point among the punchable punching points is provided in the terminal.

In order to achieve the above object, according to an embodiment of the present invention, in the smart drill machine for performing a hole through the drive control of the external terminal, the smart drill machine, the drill; a positioning device provided to move the drill in three axes for perforation; a prism provided to acquire the location information of the smart drill machine through tracking in an external total station; a sensor provided to detect a position in which the drill is in contact with the ceiling surface; a moving device for supporting the drill machine with respect to the floor surface of the real space and moving the position adjusting device in parallel with respect to the floor surface of the real space; and a lifting device provided between the moving device and the position adjusting device to adjust the height of the initial position of the drill, and in a margin position spaced apart by a predetermined distance downward from the design perforation point position in consideration of construction errors. After moving the drill to a position in contact with the ceiling surface, there may be provided a smart drill machine, characterized in that the drill is performed to a design depth based on the position in contact with the ceiling surface.

Preferably, the position adjusting device is a robot including a plurality of arms, and the sensor is a torque sensor provided in a joint between the arm and the arm. A torque sensor may be provided for each of the plurality of joints, and when more than a specific torque value is detected by the torque sensor, it may be determined that movement of the arm is restricted. Using this, it is possible to determine the position where the drill is in contact with the ceiling surface.

It is preferable to include a tilt sensor for sensing a three-axis tilt, and the sensed value of the tilt sensor is transmitted to the terminal.

It may include a prism for obtaining the position information of the drill machine by collimating or tracking in the total station.

The prism and the inclination sensor may be provided as one body, and the prism and the inclination sensor may be provided to move integrally with the drill.

In order to achieve the above object, according to an embodiment of the present invention, a setting step of communicating with a total station and a drill machine in a terminal, and displaying information on the position of the hole in the design space; a first measurement step of obtaining reference point position information in real space from the total station and transmitting the information to the terminal; a first matching step of displaying the position of the total station in the terminal;

a second measurement step of acquiring the position information of the drill machine from the total station and transmitting it to the terminal; a second matching step of displaying the position of the drill machine in the terminal; A drilling step of performing a drilling through a drill of the drill machine, wherein the drilling step is such that the drilling of the drill machine is divided into a home position, a margin position for a punching point, a ceiling surface contact position, and a punching position to be distinguished from each other. The control method of the smart drill system, characterized in that it comprises the step of controlling the driving of the drill machine may be provided.

The control method of the smart drill system is a third measurement of operating the drill machine so as to have three drill machine work area positions, and sequentially acquiring the three drill machine work area position information from the total station and transmitting it to the terminal may include steps.

The third measuring step may be performed after the second matching step. Through the third measurement step, it is possible to specify an area in which the drill machine can work at the current drill machine position.

The control method of the smart drill system may include a drilling preparation step of displaying a drilling possible area or a drilling possible point in the terminal at the position of the current drilling machine.

The drilling preparation step may be performed after the third measuring step. If the area where the drill machine can work is specified, it can be matched with the drilling points. That is, it is possible to specify which perforation points are in the work area. Therefore, it is possible to visually and intuitively grasp the perforation possible points through the perforation preparation step.

In the drilling step, the drill is preferably controlled to be driven for the drilling after contacting the ceiling surface.

In the drilling step, the drill is preferably controlled to drill to a design depth based on the position in contact with the ceiling surface.

It is preferable that the drill machine includes a tilt sensor for sensing a 3-axis tilt, and corrects an error due to the floor surface on which the drill machine is placed through the sensing value of the tilt sensor.

It is preferable to reduce or correct the error due to the vibration of the drill machine through the sensing value of the inclination sensor.

Features in the above-described embodiments may be implemented in combination in other embodiments as long as they are not contradictory or exclusive to each other.

Through the present invention, it is possible to provide a drill machine, a drill system, and a method for controlling a drill system capable of performing a drilling operation more accurately, quickly and safely.

Through one embodiment of the present invention, it is possible to provide a drill machine, a drill system, and a control method of a drill system capable of setting a plurality of punching points in a batch and, if necessary, a specific single punching point can be set.

Through an embodiment of the present invention, it is possible to provide a drill machine, a drill system, and a control method of a drill system capable of automatically drilling a plurality of punching points and automatically drilling a specific single punching point if necessary. Through this, it is possible to provide a drill machine, a drill system, and a control method of the drill system that can be flexibly dealt with according to the field situation.

Through one embodiment of the present invention, it is possible to provide a drill machine, a drill system, and a method of controlling a drill system that can flexibly apply design information for a perforated point provided in various forms. Through this, it is possible to provide a drill machine, a drill system, and a control method of a drill system that can be easily used even if the field situation or design form is changed.

Through an embodiment of the present invention, a drill that can easily connect the drill machine and the total station through a PC (terminal) that controls the drill machine and the total station, and at the same time, can easily grasp the status information of the drill machine and the total station It is possible to provide a machine, a drill system, and a method for controlling a drill system.

Through one embodiment of the present invention, a drill machine, a drill system, and a control method of a drill system that can minimize the movement of the drill machine when drilling the entire drilling point to reduce the time required to drill the entire drilling point is provided can do.

Through an embodiment of the present invention, a drill machine capable of grasping the optimal movement path in the movement of the drill machine by identifying the perforation possible point at the current position of the drill machine and displaying the perforation possible point on the PC (terminal), It is possible to provide a drill system and a method for controlling the drill system.

Through an embodiment of the present invention, by visually distinguishing and displaying the entire perforation point, perforation possible point, perforation completion point, and perforation progress point from each other, the operator can intuitively grasp the current perforation work state, drill machine, drill A system and a method for controlling a drilling system can be provided.

Through an embodiment of the present invention, by setting any one of the three reference points for grasping the working area of the drill machine as the reference position point of the drill machine, the drill that can reduce the time required to determine the perforation possible point It is possible to provide a machine, a drill system, and a method for controlling a drill system.

Through an embodiment of the present invention, when performing continuous drilling, by minimizing the path that the position adjusting device of the drill machine moves between the drilling and the drilling machine, the drill machine, the drill system that can reduce the time required for the drilling And it is possible to provide a control method of the drill system.

Through an embodiment of the present invention, in spite of construction errors such as errors due to the state of the floor where the drill machine is located, the ceiling surface where the drilling is performed, and vibration, a drill capable of performing drilling at an accurate depth at an accurate location It is possible to provide a machine, a drill system, and a method for controlling a drill system.

Through one embodiment of the present invention, the PC (terminal) communicates with the drill machine in real time to obtain the state information of the drill machine, control the operation of the drill and the position adjusting device of the drill machine, and the total station from the PC (terminal) It is possible to provide a drill machine, a drill system, and a control method of a drill system that can minimize changes in the control logic of the drill machine and the total station itself by communicating in real time with the drill machine to obtain the location information of the drill machine.

1 is a schematic diagram of a smart drill machine and a smart drill system according to an embodiment of the present invention;
2 is a control configuration diagram of a smart drill system according to an embodiment of the present invention;
3 is a perspective view showing a smart drill machine according to an embodiment of the present invention;
4 is a flowchart illustrating a control method of a smart drill system according to an embodiment of the present invention;
Fig. 5 shows a terminal display in an initial state;
Fig. 6 shows a terminal display when creating a job for punching work;
Fig. 7 shows the terminal display after opening the drawing;
8 shows a terminal display after extracting a perforation point from the drawing;
Fig. 9 shows the terminal display after the total station is connected;
Fig. 10 shows the terminal display after the smart drill machine is connected;
11 shows a terminal display during the drilling operation.

Hereinafter, a smart drill machine, a smart drill system, and a method for controlling a smart drill system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram for the configuration of a smart drill system according to an embodiment of the present invention.

The smart drill system may include a terminal 100 , a smart drill machine 200 , and a total station 300 .

The smart drill system is provided to automatically perform a drilling, for example, it may be provided to perform a hole in the ceiling surface of the room.

The perforation point must be perforated according to certain rules. That is, it should be perforated to a designed size and depth at a designed location. That is, the drilling must be performed according to the preset drilling conditions.

The preset drilling condition may be generated through the design drawing, and therefore it is preferable to transmit such a drilling condition to the drill machine so that the drill machine automatically performs the drilling. For this, an accurate mapping between the design space and the real space is required. Here, the real space may be a space in which the perforation is directly performed, that is, the interior of the building.

A total station 300 may be provided to map the design space and the real space. The total station 300 is located on the floor surface 1 of the real space and may be fixed while being supported on the floor surface.

The real space may be defined by the ceiling surface 3 , the side walls 2 and the floor surface 1 . The side wall 2 may be at least two or more, and the side wall and the side wall may be connected to each other by drilling corners.

In order to map the design space and the real space, the reference point 4 should be formed in the real space. Three reference points 4 may be provided, and may be provided on different sidewalls, respectively. The three reference points are points for which coordinate information is known, and the design space and the real space are mapped by collimating the three reference points in the total station and mapping the coordinate information identified by the collimation with the known coordinate information. That is, a transformation matrix for mapping the design space to the real space is obtained.

Specifically, when the total station 3 transmits the position information obtained for the three reference points to the terminal 100, the terminal 100 maps the drill machine design space and the real space.

In Figure 1, a perforated point (5) is indicated. The displayed perforation point 5 is for showing the position where the perforation is to be performed, and the perforation point may not be visually displayed on the actual ceiling surface 3 .

The terminal 100 has perforation location information in the design space. That is, it has a design drawing. Based on the hole location information, the terminal 100 controls the operation of the drill machine 200 . The drill machine 200 performs a hole through the operation control of the terminal 100 to match the hole location information.

When the position information of the three reference points of the drill machine of the total station 3 is grasped, the total station is not moved. This is because, when the total station is moved, it is necessary to re-acquire the position information for the three reference points.

On the other hand, since the drilling machine 200 is limited in the area that can be drilled at the current position, it is necessary to move as a whole. For this reason, it is necessary to determine where the drill machine 200 is currently located. The total station 300 may be provided to obtain the location information of the drill machine.

That is, the total station 300 may acquire the reference point position information in the real space and the position information of the drill machine in the real space and transmit it to the terminal 100 .

2 is a control configuration diagram of a smart drill system according to an embodiment of the present invention.

The terminal 100 may include a control unit 110 , a communication unit 120 , and a display unit 130 . The control unit 110 may include a processor for executing various operations or control flows.

The communication unit 120 includes a communication module for communicating with the drill machine 200 and the total station 300, the communication module may be provided in plurality according to the communication method.

The communication unit 120 includes a communication module for wireless communication with the total station, and specifically, may include a long-distance communication module. For example, it may include a communication module capable of communicating through a radio frequency.

The communication unit 120 may include a communication module for wireless communication with the drill machine 200 . Specifically, the short-range communication module may include a Wi-Fi communication module and a Bluetooth communication module. Of course, the method of the communication module may be changed.

The display unit 130 may include a manipulation unit function that an operator can operate by clicking or touching. Of course, the display unit may include a display function to visually display information. Accordingly, the display unit may be referred to as a user interface (UI) for inputting information or command and displaying information or status.

The drill machine 200 may include a drill 230 and a control unit 200 . The control unit 200 may be provided regardless of controlling the operation of the drill 230 . That is, the operation control of the drill 230 may be performed through the terminal 100 .

The communication unit 220 of the drill machine may be provided to communicate with the communication unit 120 of the terminal, and may include a Wi-Fi communication module and a Bluetooth communication module.

The drill machine 200 may include a manipulation unit 240 . The manipulation unit 240 may include a manipulation unit for applying power to the drill machine, and, if necessary, may include a manipulation unit for operating the lifting device 260 or the moving device 270 to be described later.

Drilling through a drill requires moving the drill in the direction of the drilling depth as well as the rotation of the drill. And the perforation point may be plural instead of one. Therefore, the position of the drill needs to be controlled in three axes. Therefore, in this embodiment, the drill machine 200 preferably includes a position adjusting device 250 for adjusting the position of the drill.

The position adjusting device 250 may be provided in various forms.

For example, the x-axis driving device, the y-axis driving device, and the z-axis driving device are separately provided, and the position adjusting device can be implemented through these driving devices.

For example, the position adjusting device 250 may be a robot. That is, the position of the drill provided in the distal arm can be adjusted through the plurality of arms. A joint may be provided between the arm and the arm. That is, the position of the drill may be changed through rotational displacement at the joint. The position of the drill may be determined through a combination of rotational displacements of a plurality of joints.

Hereinafter, for convenience of description, it will be described that the position adjusting device is implemented as a robot as an example.

The drill machine 200 may include a lifting device 260 . The height of the ceiling at which the drilling is performed may vary depending on the work site. And, the height that can be covered by the robot 250 is inevitably limited. Therefore, it is necessary to provide a lifting device 260 capable of elevating the reference position of the robot 250 .

The structure of the lifting device 260 may be the same as or similar to that of the aerial platform. The lifting device 260 can be raised and lowered by electric power. The lifting device may be located under the robot 250 .

The drill machine 200 may include a moving device 270 . The area of the real space in which the perforation is performed may be large, and the area that can be covered by the fixed drill machine 200 is inevitably limited. Accordingly, a moving device capable of horizontally moving the reference position of the robot 250 needs to be provided.

The moving device 270 may include wheels, and may move the drill machine in the form of holding the handle and pushing or pulling the drill machine.

The moving device may be provided to operate electrically.

On the other hand, the mobile device may include a caterpillar. Since the caterpillar has a relatively large area in contact with the floor, stable movement is possible. In addition, since the drill machine can be stably supported in a fixed state, vibrations that may be generated during drilling or while the robot 250 is moving can be significantly reduced. In addition, since the caterpillar has a very large area in contact with the floor surface, the influence of the floor surface condition (construction error or contamination state) can be relatively significantly reduced.

The drill machine 200 may include a sensor 280 . The sensor 280 may be provided to detect that the drill 230 is closed on the ceiling surface. When the drill 230 moves upward and the drill closes on the ceiling surface, it may be provided to detect a contact or to sense resistance generated by the contact.

When the robot 250 is driven, rotation at the joint is performed. Accordingly, when the rotation is restricted, a torque greater than a certain size may be generated. In order to raise the drill, the joint must be rotated, and since rotation is limited, more torque is generated. By sensing this torque value, it is possible to determine the timing and position of the drill closing with the ceiling surface.

The drill machine 200 may include a tilt sensor 290 . The drill machine 200 may be provided to detect the level of the drill machine itself. Depending on the condition of the floor surface, the drill machine may be slightly tilted. Such a fine gradient may be amplified and cause a large error during actual drilling.

Therefore, it is possible to detect the horizontality of the drill machine through the inclination sensor 290, and through this, it is possible to correct the error.

Meanwhile, when the robot 250 moves, vibration may be generated. This vibration can persist even when the drill is raised to contact the ceiling surface at the margin position. In this case, a position error in which the drill contacts the ceiling surface may occur. Therefore, it is possible to determine whether vibration through the inclination sensor 290 before the drill rises from the margin position.

When it is determined that the vibration is less than the allowable value through the sensing value of the inclination sensor 290, it is preferable to control the drill to rise from the margin position. That is, it is preferable that the robot 250 moves the drill to the margin position, stops the operation until it is determined that the vibration is resolved, and then moves the drill upward. Here, the value sensed by the inclination sensor 290 is preferably transmitted to the terminal 100 in real time. Therefore, it is possible to reduce the error due to vibration to find an accurate drilling position and perform drilling with an accurate drilling depth.

The total station 300 may not be changed separately in order to be applied to an embodiment of the present invention. That is, it is possible to use the existing total station 300 as it is.

The total station 300 may include a control unit 310 for basic control, a measurement unit 320 , a manipulation unit 330 , and a communication unit 340 . The measurement unit 320 may be provided to detect location information of the measurement object by collimating or tracking the measurement object. By irradiating the laser with the prism of the measurement target, the position information can be grasped.

The location information identified by the total station 300 may be transmitted to the terminal 100 through the communication unit 340 .

The relationship between the terminal 100 , the drill machine 200 and the total station 300 will be briefly described.

The total station 300 may acquire location information of the measurement target (indoor space, drill machine) and transmit it wirelessly to the terminal 100 . The terminal 100 may control movement, measurement, and state of the total station. That is, the terminal 100 can remotely control the operation of the total station.

The terminal 100 may remotely control the operation of the robot 250 and the drill 230 . That is, the position of the drill and the driving control command of the drill are preferably performed through the terminal 100 rather than being performed by the control unit 210 of the drill machine 200 .

The drill machine 200 may transmit state information of the robot 250 to the terminal 100 . That is, it is possible to more precisely control the robot by receiving feedback of the state information of the robot from the terminal.

The drill machine 200 may transmit the detection values of various sensors to the terminal 100 . For example, the detection value of the torque sensor and the detection value of the inclination sensor may be transmitted to the terminal 100 in real time.

Through one communication module, it may be undesirable for the drill machine 200 and the terminal 100 to transmit and receive information. This is because the type and amount of information transmitted and received through real-time communication may be different. Therefore, a communication module for transmitting and receiving information such as a control command or state information corresponding to a control command between the terminal 100 and the drill machine 200 and a communication module for transmitting the sensed value of the sensor are provided separately from each other desirable. The former communication module may be a Wi-Fi communication module, and the latter communication module may be a Bluetooth communication module.

Figure 3 shows an example of a smart drill machine according to an embodiment of the present invention.

The drill machine 200 may include a main body 201 , a position adjusting device (robot, 250 ), a lifting device 260 , and a moving device 270 . A robot computer may be built in the main body 201 . That is, the control unit 210 may be accommodated inside the case-shaped body 201 . The communication unit 220 may also be accommodated in the main body 201 .

The robot 250 may be located above the main body 201 , and a lifting device 260 may be provided at a lower portion of the main body 201 .

The drill machine 200 may be horizontally moved through the moving device 270 , and a lifting device 260 may be provided between the moving device 270 and the robot 150 . Accordingly, the robot 250 and the main body 201 can be stably raised and lowered by the driving of the lifting device 260 .

On the other hand, the moving device 270 may include a handle 271 that the operator can hold and push or pull the drill machine.

The robot 250 may include a plurality of arms 251 and a joint 252 between the arms and arms. The robot 250 may include three arms. The first arm may be connected to the body 201 , and the last arm (end arm) may be connected to the drill 230 .

The drill 230 is fixed to the distal arm, and as the robot 250 is driven, the drill 230 may be moved three-dimensionally.

In order to accurately control the position of the drill, the position of the drill must be accurately identified. A prism 202 is provided for positioning, and the prism 202 must be moved integrally with the drill 230 . That is, a relative position change between the two should be excluded. Accordingly, the drill and prism 202 are preferably secured together to the distal arm. A rigid bracket may be used for fixing the prism.

On the other hand, although not shown, the drill machine 200 may be additionally provided with various configurations. As an example, a cleaner capable of sucking dust, etc. generated during perforation may be included. The suction nozzle may be provided to surround the drill, and the suction nozzle may be elastically deformed. That is, the suction nozzle is in close contact with the periphery of the perforation point and surrounds the perforation point, and is compressed when the drill is moved upward by the perforation to maintain close contact. Accordingly, dust generated during the perforation may be introduced into the cleaner body through the suction nozzle.

The start of the operation of the vacuum cleaner may be interlocked with the operation of the drill. That is, it is possible to make the vacuum cleaner start sucking at the same time as the drill rotates. Since there may be residual dust even after the rotation of the drill is finished, the operation of the cleaner may be stopped after a short period of time after the rotation of the drill is finished.

Hereinafter, a control method of a smart drill system according to an embodiment of the present invention will be described in detail with reference to FIGS. 4 to 11 .

Each of the steps shown in FIG. 4 may be described through the display screens shown in FIGS. 5 to 11 . Therefore, first, the display of the terminal will be described in detail with reference to FIG. 5 .

As shown in FIG. 5 , the display unit 130 or the screen of the terminal may be included. This may be referred to as a display for convenience, and a user interface may be implemented through the display.

The display 130 may be divided into regions. That is, the menu area 140 and the display area 150 may be divided and displayed in the terminal. In addition, the terminal may be provided with a menu area 140 and a perforated coordinate display area 160 separated from the display area 150 . In addition, a status display area 170 distinguished from these areas may be provided.

As shown, the menu area 140 is provided above the display area 150 that occupies most of the area, and a perforated coordinate display area 160 and a status display area 170 may be provided on one side of the display area. .

In the display area 150 , a view having the location information of the drilling hole, the location information of the total station, and the location information of the drill machine through the mapping information between the design space and the real space may be displayed. The hole location information, the location information of the total station, and the location information of the drill machine may be sequentially added and displayed in one view. This will be described later.

The display area 150 may include a sub-menu 151 for zooming in/out, rotating a view, and changing a viewpoint. Then, the coordinates of the view may be displayed. That is, the xyz axis may be displayed. Through this xyz coordinate axis rotation, the viewpoint of the view can be easily grasped.

Menus 141 and 142 for connecting the terminal and external devices may be provided in the menu area 140 . In addition, work menus 143 , 144 , 145 for calling the perforation coordinates for perforation work may be provided.

Menus for punching may be provided in the menu area 140 , and additional menus may also be provided. Details of each menu will be described later.

On the other hand, the menus provided in the menu area 140 are preferably arranged in the order of the punching operation. That is, it is preferable that the menus necessary for setting for starting the drilling operation are generally provided on the left side and the menus for commanding the drilling operation are provided on the right side.

In the perforated coordinate display area 160 , the coordinates of the perforated point may be displayed as numbers. And a punching point name for distinguishing the punching points from each other may be displayed. This information can be displayed like a spreadsheet.

The perforated coordinate display area 160 may include a sub-menu 161 for adding perforated points, separated from the work menus 143 , 144 , and 145 of the menu area 140 .

The punching coordinates display area 160 may be provided with a selection point punching menu 164 separated from the punching menu 148 of the menu area 140 . The punching menu 148 may be a menu for a multiple punching mode command, and the selection point punching menu may be a menu for a single punching mode command.

In the status display area 170 , the progress status of detailed processors related to the punching operation may be displayed through characters or symbols.

As shown in Figure 4, the control method of the smart drill system according to an embodiment of the present invention, the terminal 100, the drill machine 200 and the total station 300, which are individually provided setting step of interlocking with each other (S10) may be included.

Specifically, the setting step may be a step of communicating with the total station and the drill machine in the terminal, and displaying the hole location information in the design space.

As shown in FIG. 5 , when the operator presses the T/S connection menu 141 in the menu area 140 , a communication connection can be performed with a total station provided around the terminal. By tuning the radio frequency, the terminal and the total station can be connected. In this case, an active window (not shown) is generated, and frequency tuning can be performed through this.

After connecting the total station, if the robot connection menu 142 is pressed, communication connection with the drill machine provided around the terminal can be performed. In this case, an active car (not shown) is generated, and a Wi-Fi connection or a Bluetooth connection can be performed through this.

The order of the connection between the total station and the robot can be changed. The menu color before and after connection completion may be different from each other. For example, the menu may be displayed in green before connection and in colorless after connection.

The menu area 140 may include operation menus 143 , 144 , and 145 for collectively inputting punching coordinate points for performing a punching operation.

The work menu may be a menu for distinguishing a plurality of real spaces to be perforated from each other.

As shown in FIG. 6 , when the new task menu 143 is selected, the active window 152 may be displayed on the display area. You can create a new job name by entering the job name in the active window.

The job name can be created by the operator to distinguish a series of jobs from each other and considering the schedule for the entire drilling job. A job name can be created by dividing a plurality of real spaces into several sectors. It is possible to create a work name in the form of a layer to be perforated and a sector divided into a plurality of layers.

A job name is generated whenever a new job is performed, or a plurality of job names can be created in detail by dividing the entire drilling job in advance.

When the job name is created, the drawing open menu 145 corresponding to the job name can be selected. That is, it is possible to call a design drawing having perforated point location information and match it with the corresponding work name.

On the other hand, when the punching operation for the created job cannot be finished, the current state may be stored, and then the existing job may be selected by selecting the job open menu 144 .

7 shows an example in which a drawing selected by selecting the drawing open menu 145 is displayed on the display area 150 .

The drawing displayed through the open drawing menu 145 may be a drawing of the entire real space. That is, it may be a drawing including perforated points or a background drawing in which perforated points are to be formed.

Depending on the designer, the perforation point may be displayed in various forms in the drawing. Therefore, it is necessary to extract the perforation point from the entire drawing. Extraction of perforated points may be performed in various ways, such as area designation, perforation point shape designation, or a method of individually selecting each perforation point.

When the perforated points are extracted, the perforated points may be displayed in the menu area 140 as shown in FIG. 8 . In addition, in the perforation coordinate display area, the perforation point name, xyz coordinates, and the perforation point state may be displayed in a diagram form.

The displayed view can be enlarged and reduced, and through this, the position and number of all perforated points can be visually grasped.

The display screens shown in FIGS. 5 to 8 can be said to be sequentially shown screens corresponding to the setting step S10 shown in FIG. 4 . It can be said that the terminal recognizes and displays the drawing, which is the reference of the work, through a series of processes. In addition, it can be said to be a step of connecting the total station and the drill machine to the terminal.

Here, a process such as opening a drawing may be performed first, and a connection process of the total station and the drill machine may be performed later.

For perforation, real space and design space should be mapped. To this end, the first measurement step (S20) of acquiring the reference point location information in real space from the total station and transmitting it to the terminal should be performed. A reference point setting menu 146 may be provided in the menu area 140 . By selecting the reference point setting menu, it is possible to acquire location information about three reference points in real space from the total station. Through voice or an active window in the menu area, it is possible to guide the three reference points to be sequentially collimated, and to guide that the location information for the reference point has been received.

The three reference points are points whose actual coordinates are known. That is, it is a point mapped with three specific reference points in the design space. Accordingly, when the total station acquires position information for three reference points, the position of the total station can be determined by triangulation.

As shown in FIG. 9 , when the total station acquires location information of three reference points and transmits them to the terminal, the terminal maps the real space and the design space and displays the total station at the corresponding location ( S30 ). That is, the first matching step (S30) is performed. The total station is displayed on the display area 150 in the form of an icon 156 . That is, the position information of the perforated points and the position information of the total station are visually displayed in the display area.

Accordingly, the first measurement step S20 starts by selecting the reference point setting menu 146 and the first matching step S30 ends by displaying the icon 156 of the total station on the display area.

The drill machine performs drilling based on the location information of the drilling point designed in real space. Therefore, the location of the drill machine in the real space and the location of the drill machine in the design space should be mapped.

To this end, a second measurement step (S40) may be performed. That is, the step of acquiring the location information of the drill machine from the total station and transmitting it to the terminal may be performed. At this time, the location information of the drill machine is preferably obtained from the home location of the drill machine. Thereafter, when the total station transmits the location information of the drill machine to the terminal, the terminal performs a second matching step of displaying the location of the drill machine through mapping. A state in which the second matching step is completed is shown in FIG. 10 .

10, the location information of the punching point, the total station location information, and the location information of the drill machine are displayed together. Thus, it can be said that the drilling preparation is completed.

10 shows a collimation line 157 . That is, it can be seen that the prism is located on the drill machine icon 155 at the home position of the drill machine. In other words, it can be seen that the line of sight is formed between the inner area of the drill machine icon and the total station. In addition, it can be seen that through the reduction of the view in FIG. 10 , all of the drilling points, the drill machine, the total station, and the line of sight can be displayed in one view.

Therefore, after the second matching step (S50) is performed, the drilling step (S80) may be performed.

It is the drill that performs the perforation. That is, drilling is performed through rotational driving and vertical movement of the drill, which is performed not manually but by electric (automatic). It is very inefficient to drill a single punching point and move the entire drilling machine every time another punching point is drilled. In other words, it is preferable to drill all the drilling points while minimizing the horizontal movement of the drill machine in the real space.

To this end, the menu area 140 may be provided with a perforation possible point confirmation menu 147 . Through the perforation possible point confirmation menu, it is possible to grasp the perforated area or perforated points at the current position of the drill machine.

Specifically, the third measurement step (S60) of obtaining the three drill machine (robot) work area position information may be performed. The third measuring step is a step of operating the drill machine so that the drill machine has three different working area positions, and acquiring position information at each working area position through a total station.

The third measuring step (S60) is performed to convert the drill machine (robot) coordinate system into a design space coordinate system. If only the position of the reference point of the drill machine (robot) is identified, the direction of the drill machine (robot) cannot be determined. That is, the direction of the drill machine must be grasped so that the working area of the drill machine can be grasped at the current drill machine position. To this end, it is necessary to obtain three different work area location information.

The obtained location information is transmitted to the terminal 100 . Here, the work area position is preset. Therefore, since the specifications for the area where the drill machine can work are preset, the drill machine (robot) coordinate system can be converted into the design space coordinate system through this location information, and the area that can be worked at the current location is identified. can be

Therefore, the terminal performs a drilling preparation step (S70) of displaying a drilling possible area or a drilling possible point on the display area at the current drilling machine position.

As shown in FIG. 9 , all the perforated points are displayed in the display area, and the perforated points 154b and the remaining perforated points 154a may be displayed to be visually distinguished from each other. That is, it is possible to grasp the drilling possible point at the current drill machine position.

When the perforation possible point is displayed, the perforation step (S80) may be performed. That is, by selecting the punching menu 148, punching may be performed. At this time, the perforation is to perforate the perforation possible points sequentially. That is, the perforation through the perforation menu 148 may be referred to as a multiple perforation mode.

Since the robot 250 moves as the perforation is performed, the position of the prism is changed. Accordingly, the position of the collimation line becomes variable. On the other hand, it can be said that the positions of the total station and the drill machine are fixed not only in real space but also on the display.

11, as the perforation is performed, the total perforation point, perforation possible point, perforation completion point, and perforation progress point may be visually displayed differently from each other.

Perforation possible points may be indicated in red with a filled circle, and a perforation completion point may be indicated by a filled circle in green. The perforation progress point may be displayed in yellow, and the remaining perforation points other than the perforation possible points may be displayed as empty circles. Of course, the shape or color that distinguishes them from each other may be different.

Accordingly, the operator can very intuitively grasp the current state of the drilling operation by looking at the display.

In the perforation coordinate display area, the state of each perforation point may be displayed with text or a symbol.

Since the drilling possible point is identified at a specific position of the drilling machine, the number of horizontal movements of the drilling machine can be reduced very effectively. However, there may be cases in which a perforation point needs to be added or a single perforation point has to be perforated rather than a plurality of perforation points in the field situation.

To this end, according to the present embodiment, it is possible to provide a single perforation mode as well as a plurality of perforation modes. In addition, it is possible to provide not only extraction (addition) of the entire perforation point through opening a drawing, but also a method of adding perforation points in another form. As an example, a method of adding a small amount of perforation points or a single perforation point may be provided.

A sub-menu 161 for adding a perforation point may be provided in the perforated coordinate display area 160 . The sub-menu may be provided to select at least one of adding a punching point through a drawing, adding a punching point through a spreadsheet file, and adding a punching point through a coordinate input. In addition, a sub-menu capable of searching a database for adding punching points may be provided.

In the actual field, 3D design drawings and 2D design drawings may be used, and the perforation points may be provided only as 2D design drawings, spreadsheet files, and the like. As an example of a 3D design drawing, a background drawing is called through the open drawing menu 145, which is the main menu, and information on perforation points can be called from a sub-menu, and both can be mapped and displayed in the display area. Therefore, it is possible to respond flexibly even if the field environment or design environment is different.

In addition, a single perforation mode menu 164 may be provided in the perforation coordinate display area 160 . As an example, it may be provided as a perforated menu for selection points. When the selection point drilling menu is pressed, the selection point drilling is performed, and in this case, the selection point drilling menu may be changed to a selection point drilling stop menu. If you press the stop punching menu for the selection point, you can stop only the punching for the selection point.

On the other hand, it may be necessary to delete the extracted or added perforation point. In case of an incorrect perforation point input, it is necessary to delete only the perforation point. For this purpose, a delete menu 165 may be provided.

After selecting and activating the perforated point in the perforated coordinate display area, if the delete menu 165 is pressed, only the perforated point may be deleted.

A plurality of other menus 149 may be provided in the menu area, and may include, for example, an emergency stop menu. It can be called a menu to stop the drive of the drill machine in case of emergency.

When the drill machine finishes all the drilling at a specific location, a notification may be performed in the terminal. The user moves the drill machine to the vicinity of the drilling end area. At this time, the terminal may display the movement path of the drill machine in real time. This is because the drill machine is tracked in real time.

When the drill machine is moved to a nearby location, the third measurement step (S60) and the drilling preparation step (S70) are performed, and then the drilling step (S80) is performed again.

In Figure 10, approximately 220 perforated points and 30 perforated possible points are indicated. Since it is possible to drill for about 30 drilling points at the current drill machine position, it can be seen that arithmetic, it can be seen that the entire drilling points can be drilled by about 6 to 8 drill machine movements.

Therefore, in the case of performing mass drilling, very efficient and effective drilling can be performed.

On the other hand, in the above-described drilling step (S80), it has been described that a plurality of drilling mode and a single drilling mode can be performed, and for this purpose, it has been explained that a selection menu is individually provided.

It is important that the perforation is performed by precisely matching the perforation point, but it is also important to accurately match the perforation depth. For example, there may be a case in which the ceiling surface on which the perforation is to be performed is located approximately 1 centimeter higher due to a construction error. At this time, if the designed drilling depth is 3 centimeters, according to accurate coordinate mapping, the actual drilling depth should be 2 centimeters.

However, in this case, the anchor bolt may not be sufficiently fixed because the drilling depth is not as designed. In other words, it is preferable that the actual drilling is performed with the designed drilling depth despite the construction error.

The present embodiment can provide a smart drill machine, a smart drill machine system, and a control method thereof, in which drilling can be performed with an accurate drilling depth despite a construction error.

To this end, the drill machine may be driven so that the home position, the margin position for the perforation point, the ceiling surface contact position, and the perforation position are distinguished from each other. It is preferable that the terminal controls the drive so that the drill machines are distinguished from each other at these positions.

It has been described that the home position of the drill machine is the home position of the robot 250 and may be any one of three working area positions.

The margin position means a position spaced apart by a predetermined distance downward from the design puncture point position in consideration of construction errors. As an example, it may mean a position approximately 5 to 10 centimeters lower than the designed start point of the perforation. If the construction error is very small, the margin position can also be set small.

As the drill rises from the margin position, it comes into contact with the ceiling surface at some point. The total station can identify the position where the drill touches the ceiling surface and the point when the drill touches the ceiling surface through the sensor. Therefore, by setting the position where the drill touches the ceiling surface as the starting point of the drilling, the drilling is performed to the designed drilling depth.

If there is no error in the construction of the ceiling surface, the designed starting point will be the position where the drill touches the ceiling surface. If the ceiling surface is constructed higher than the design, the drill will close the ceiling surface at a position higher than the designed starting point. Therefore, even in this case, since the starting point of the drilling (the reference point of the drilling depth) can be changed, the drilling can be performed with an accurate drilling depth.

The position of the drill will be described in more detail.

When the entire drilling machine is moved, it is preferable to position the drill at the lowest position. This can be called the home position of the drill machine.

In order to perform the drilling, the robot moves and moves the drilling machine to the margin position. Then, the drill is raised from the margin position to a position in contact with the ceiling surface. This ascent start can be performed when the vibration can be neglected through the inclination sensor.

When the drill touches the ceiling surface, it is recognized as the starting point of the drilling and the full-scale drilling begins. That is, the rotational driving of the drill starts only after the drill contacts the ceiling surface. It will be driven to push the drill vertically in response to the rotational drive of the drill.

After the drill has finished drilling at the drilling position, the drill may be moved to the home position. That is, it may be returned to the initial position.

Here, it can be seen that the change in the position of the drill is suitable for single perforation point perforation. That is, it can be seen that safety and accurate perforation are possible. However, assuming that the clearance between the home position and the perforation position is very large, it can be seen that the time the robot moves for perforation may be longer than for the actual perforation.

Therefore, it is preferable that the drill position control pattern in the single drilling mode and the drill position control pattern in the multiple drilling mode are different.

The drill position control pattern for the first point drilling and the drill position control pattern after the last hole drilling may be the same in the single drilling mode and the multiple drilling mode. However, it is preferable that the drill position control pattern is different when performing the next intermediate drilling after the intermediate drilling in the multiple drilling mode.

Specifically, after the intermediate drilling, the drill moves to the margin position of the next drilling point without returning to the home position. After that, check the ceiling surface contact position at the margin position and perform the drilling. This repetition is carried out until the final drilling possible point is drilled, and the drill returns to the home position after the final drilling possible point is drilled. After that, it is possible to horizontally move the entire drilling machine to a nearby position.

It is possible to significantly reduce the time required to drill a plurality of punching points by minimizing the driving of the drill to return to the home position in the multiple punching mode.

On the other hand, it is desirable to minimize the change in the position of the total station when performing the drilling in the real space. That is, if the position of the total station is fixed in the real space, it is preferable to enable the drill machine to capture all the movements in the real space. In other words, it is preferable to always be able to track the prism provided in the drill machine in the total station. It is preferable that some components of the drill machine, for example, a drill, a cleaner nozzle or a positioning device, are not interposed between the prism and the total station between the prism and the total station.

Therefore, it is preferable that the position of the reference point of the drill machine or the positions of the working area of the drill machine are set so that the prism always faces the total station with respect to 360 degrees of the circumference of the drill machine. In addition, the height of the total station may also be proposed so that the total station is installed in a desired height range.

That is, when the total station is installed within the set height range or at the set height, the obstruction between the prism and the total station by the drill machine itself at the reference point position and the working area position of the drill machine can be excluded. In other words, the position of the reference point and the position of the work area may be preset so that the obstacle is excluded.

Therefore, it is not necessary to frequently move the position of the total station.

In addition, it is preferable that an obstruction between the prism and the total station by the drill machine itself is excluded on the path the drill moves in the drill machine coordinate system, that is, the drill movement path on the work area. In other words, movement paths may also be preset on the premise that obstacles are excluded.

However, due to the structural problem of the positioning device or the drill machine itself, an obstacle may be intercepted during the drilling operation of the drill machine at the location of some drill machines. As an example, such an obstacle may be interposed in a state in which the drill machine is rotated 180 degrees. That is, in a specific posture of the drill machine (a specific horizontal angle formed with the total station, for example, 180 degrees), an obstacle may be interposed between the prism and the total station while the drill performs a hole. Such a specific posture may be referred to as a dead zone, and for continuous prism tracking, the dead zone may be guided not to occur.

Therefore, it is desirable to guide the drill machine so that it can be moved in real space, but rotated 180 degrees in relation to the total station to avoid it. Through this, the total station can continuously track the prism at the reference position of the drill machine, the position of the working area, and the entire position where the drill moves for drilling.

10: smart drill system 100: terminal
140: display unit 200: drill machine
230: drill 300: total station

Claims (20)

an external terminal for mapping the design space and the real space, and having perforation location information in the design space;
a drill machine having a prism and a drill for perforation, and performing perforation in the real space through operation control by the terminal based on the perforation position information; And
It is arranged to be spaced apart from the drill machine in the real space, and the reference point position information of the real space for mapping the design space and the real space and the position information of the drill machine and the drill are obtained by tracking the prism in the real space, and a total station provided to transmit the reference point position information of the real space and the position information of the drill machine and the drill to the terminal,
The terminal is provided with a menu area and a display area,
Smart drill system, characterized in that the view having the drilling position information, the position information of the total station, and the position information of the drill machine through the mapping information of the design space and the real space is displayed in the display area. The method of claim 1,
The display area, the smart drill system, characterized in that provided with a sub-menu for zooming in/out, rotating the view, and changing the viewpoint. The method of claim 1,
In the menu area, a menu for communicatively connecting the terminal and the total station and a menu for communicatively connecting the terminal and the drill machine are provided. The method of claim 1,
The menu area, smart drill system, characterized in that provided with a work menu for distinguishing a plurality of real spaces to be drilled from each other. The method of claim 1,
In the menu area, a drawing opening menu for inputting a drawing having perforation location information in the design space and displaying the input drawing in the display area is provided. 6. The method of claim 5,
The terminal is provided with a perforated coordinate display area separated from the menu area and the display area,
When the perforated point is extracted from the displayed drawing, the smart drill system, characterized in that it is displayed on the perforated coordinate display area so that the coordinates of the extracted perforated point are distinguished from each other. 7. The method of claim 6,
In the perforated coordinate display area, the smart drill system, characterized in that the coordinates of the perforated point and the state of the perforated point are displayed together. 7. The method of claim 6,
The smart drill system, characterized in that the sub-menu for adding the coordinates of the punching point is provided in the hole coordinate display area. 9. The method of claim 8,
The sub-menu is at least one of a drawing menu for adding the coordinates of a punching point to a drawing, a file menu for adding the coordinates of a punching point to a spreadsheet file, and a coordinate menu for the user to write and add the coordinates of the punching point Smart drill system, characterized in that it includes any one. The method of claim 1,
In the menu area, a reference point setting menu for obtaining the reference point position information in the real space from the total station and displaying the position of the total station in the display area is provided. 11. The method of claim 10,
In the display area, after the position of the total station is displayed, when the position information of the drill machine is obtained by collimating the drill machine in the total station, the position of the drill machine is displayed. . 12. The method of claim 11,
After the location information of the drill machine is obtained, the drill machine is operated to obtain location information of three different drill machine working areas from the total station. 13. The method of claim 12,
The menu area, smart drill system, characterized in that provided with a drilling possible point check menu for identifying a possible drilling point at the current position of the drill machine based on the location information of the three drill machine work areas. 14. The method of claim 13,
Smart drill system, characterized in that when the perforation possible point confirmation menu is selected, the perforation possible point and the remaining perforation points are displayed so as to be distinguished from each other in the entire perforation point in the display area. 14. The method of claim 13,
The menu area, smart drill system, characterized in that provided with a punching menu for selecting the punching possible points sequentially. 16. The method of claim 15,
When the perforation menu is selected, the smart drill system, characterized in that the perforation possible point, the perforation progress point, and the perforation completion point are displayed to be visually distinguished from each other as the perforation progresses. 16. The method of claim 15,
The terminal is provided and provided with a perforated coordinate display area separated from the menu area and the display area,
The smart drill system, characterized in that the drilling coordinates display area, a selection point drilling menu for selecting one of the drilling possible points to drill a specific punching point is provided. 18. The method of claim 17,
The specific punching point is a smart drill system, characterized in that it is selected by clicking a specific punching point in the display area or by clicking a specific punching point displayed in the punching coordinate display area. In the smart drill machine for performing drilling through drive control by an external terminal,
The smart drill machine,
drill;
a positioning device provided to move the drill in three axes for perforation;
a prism provided to acquire the position information of the smart drill machine and the position information of the drill through tracking in an external total station;
a moving device for supporting the drill machine with respect to the floor surface of the real space and moving the position adjusting device in parallel with respect to the floor surface of the real space;
and a lifting device provided between the moving device and the position adjusting device to adjust the height of the initial position of the drill,
The smart drill machine performs a single drilling mode and a plurality of drilling modes through operation control by the terminal,
In the single drilling mode, the positioning device is driven to sequentially move the drill to the home position, the margin position for the drilling point, the drilling position, and the home position,
In the multiple drilling mode, the position adjusting device is driven to move the drill to the margin position for the next punching point without returning the drill to the home position from the punching position after punching of a specific punching point
The margin position is a smart drill machine, characterized in that it is a position spaced apart by a predetermined distance from the design perforation point position. A setting step of communicating with a total station and a drill machine in an external terminal having a display, and displaying information on the location of a hole in the design space on the display;
a first measurement step of obtaining reference point location information in real space from the total station and transmitting the information to the terminal;
a first matching step of displaying the position of the total station on the display of the terminal;
a second measurement step of tracking the prism of the drill machine in the total station, acquiring the location information of the drill machine and the location information of the drill, and transmitting it to the terminal;
a second matching step of displaying the position of the drill machine on the display of the terminal; And
A drilling step of performing drilling in any one of a single drilling mode in which a single drilling point is drilled through the drill of the drill machine and a plurality of drilling modes in which a plurality of drilling points are sequentially drilled by operation control by the external terminal A control method of a smart drill system, characterized in that.

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