KR20210149572A - System for installing floor finishing materials using autonomous driving robot - Google Patents

Abstract

The present invention relates to a system for installing a floor finishing material using an autonomous driving robot. According to the present invention, the system for installing a floor finishing material using autonomous driving comprises: a floor surface cleaning and adhesive applying robot for cleaning a floor surface to install a finishing material on and applying adhesive for fixing the finishing material with constant thickness while moving by autonomous driving; a robot for installing a finishing material to install a floor finishing material on top of a contact surface applied to the cleaned floor surface; a robot for loading a finishing material to load the floor finishing material, which has been loaded on an installation site, on a pallet; a robot for transporting a finishing material to transport the loaded floor finishing material from the robot for loading a finishing material to the robot for installing a finishing material to transport the floor finishing material; and a 3D positioning device for setting the position thereof as the origin and recognizing a plurality of active markers installed on a work site using a distance measuring device with vision. According to the present invention, accurate and uniform operation is enabled compared with a floor finishing material installed by a human being and providing improved quality of floor construction. In addition, accidents can be prevented in a construction site and construction materials can be installed at accurate positions.

Description

Floor finishing material installation system using autonomous driving robot {SYSTEM FOR INSTALLING FLOOR FINISHING MATERIALS USING AUTONOMOUS DRIVING ROBOT}

The present invention relates to a floor finishing material installation system using an autonomous driving robot, and to a floor finishing material installation system using an autonomous driving robot for installing a floor finishing material at a construction site using a plurality of autonomous driving robots.

Recently, as urban forms change to high density, architectural structures are also becoming taller and larger than in the past. In addition, construction materials are becoming larger and heavier in order to satisfy the diverse needs of residents. In general, the size and weight of construction materials are manufactured and installed within the possible limits of construction. However, it is inevitable to increase the size of construction materials for various needs of consumers and construction efficiency. On the other hand, since it is difficult to transport and install such large-sized construction materials (eg, large glass finishing materials) only by manpower, recently, construction robots for transporting and installing large-sized construction materials have been used.

Conventional construction robots are remote-controlled by a worker, and the installation of construction materials depends only on the operator's field of vision. There is this.

According to the analysis of the causes of accidents by stage of construction work conducted in Korea for the past two years, 78% of the total work was caused by outdoor work, that is, accidents that occurred at the construction site, in which humans are greatly affected by the environment rather than indoor work such as planning or design. is said to occupy

In particular, when looking at the causes of construction stage accidents, it was found that human error is related to more than 95% of the causes of accidents, such as personal carelessness, work supervision error, prior consultation error, equipment handling error, inspection error, etc., except for about 2.5% of external environmental causes. Able to know.

Therefore, it can be said that at least 70% of all safety accidents in construction work can be largely resolved through the strengthening of the safety system including "mechanization, automation, and robotization of construction sites".

In particular, since the mid-20th century, the industry has developed rapidly, and now, beyond the use of robots for simple tasks, even tasks that are difficult for humans to work have started to be performed by robots, which eventually leads to instantaneous judgment and accumulation by human intelligence. The need for supervisory control, which consists of automating the acquired knowledge information, has emerged.

Accordingly, there is a need for a system for installing floor coverings.

The technology underlying the present invention is disclosed in Korean Patent Laid-Open No. 10-2008-0038865 (published on May 7, 2008).

An object of the present invention is to provide a floor finishing material installation system using an autonomous driving robot for installing a floor finishing material at a construction site using a plurality of autonomous driving robots.

According to an embodiment of the present invention for achieving this technical task, in the floor finishing material installation system using autonomous driving, the floor surface on which the adhesive for fixing the finishing material and cleaning the floor surface to install the finishing material while moving to autonomous driving is applied to a certain thickness Arrangement and adhesive application robot, finishing material loading robot for loading the floor finishing material loaded on the pallet, finishing material transporting robot transferring and delivering the floor finishing material loaded from the finishing material loading robot, floor finishing material from the finishing material transferring robot A robot for installing a finishing material that receives and installs a floor finish on the upper side of the adhesive surface coated with a certain thickness on the cleaned floor, and sets its position as the origin, and uses a distance measuring sensor including vision to install multiple and a 3D positioning device that recognizes the position and orientation of the active marker.

The robot for installing the finishing material, the robot for transferring the finishing material, and the robot for loading the finishing material may further include a charging robot that is docked to supply electricity.

The floor cleaning and adhesive application robot, the finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the charging robot each have different identification tags, a vision sensor for autonomous driving, a vision sensor for obstacle recognition, and a floor recognition A sensor may be attached.

The autonomous driving vision sensor recognizes different identification tags and positions of the active marker installed in the finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the charging robot, and the finishing material installation robot, the The finishing material transfer robot, the finishing material loading robot, and the charging robot can recognize the surrounding environment through the floor recognition sensor to prevent departure from the current working environment.

The floor recognition sensor may be installed below the finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the charging robot.

The floor recognition sensor includes at least one of a vision, a lidar, and a radar, and the finishing material installation robot, the finishing material transport robot, the finishing material loading robot and the charging robot detect the surrounding environment through the floor recognition sensor. By recognizing it, it is possible to prevent deviation from the current working environment.

The vision sensor for recognizing obstacles includes at least one of a vision, a lidar and a radar, and can recognize obstacles existing in the finishing material installation robot, the finishing material transport robot, the finishing material loading robot and the charging robot. .

The finishing material loading robot or the finishing material installation robot includes a central shaft having a rotating part mounted on the lower side, a horizontal arm coupled to the central side and extending to the left and right, and attached to one side of the horizontal arm to put the floor finishing material on the floor A vertical arm operating in the vertical direction for installation, a counterweight installed on the other side of the horizontal arm to maintain the balance of the horizontal arm, and each corner of the lower side of the vertical arm facing the floor It is installed to do so, and may include a plurality of floor photographing sensors for recognizing the corners of each of the floor finishing materials.

The finishing material installation robot recognizes the shape of the floor surface on which the adhesive present in the image taken from the floor photographing sensor is applied with a constant thickness, and the corners of the floor finishing materials installed around the reference coordinate system of the first building are in contact with each other. The floor finish may be positioned.

The 3D positioning device sets its own position as the origin, measures the relative position and azimuth information between a plurality of active markers installed at the work site using a vision-containing distance measurement sensor, and uses an external integrated management module to measure the floor It is possible to transmit the relative position and orientation information for installing the floor finishing material to the surface cleaning and adhesive application robot, the finishing material installation robot, the finishing material transport robot, the finishing material loading robot and the charging robot, respectively.

As described above, according to the present invention, it is possible to perform an accurate and uniform operation compared to a floor finishing material installed by a person, and to improve the floor construction quality.

In addition, it is possible to prevent accidents at the construction site, and it is possible to safely install the building materials in the correct position.

1 is a configuration diagram for explaining the configuration of a floor finishing material installation system according to an embodiment of the present invention.
2 is an exemplary view of applying a floor finishing material installation system according to an embodiment of the present invention.
3 is a view showing a floor cleaning and adhesive application robot according to an embodiment of the present invention.
4 is a view showing a robot for loading a finishing material according to an embodiment of the present invention.
5 is a view showing a robot for transferring finishing materials according to an embodiment of the present invention.
6 is a view showing a robot for installing a finishing material according to an embodiment of the present invention.
7 is a view showing a charging robot according to an embodiment of the present invention.
8 is a view showing a 3D positioning device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily carry out the present invention. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

Then, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them.

1 is a view for explaining a floor finishing material installation system according to an embodiment of the present invention, Figure 2 is an exemplary view applying a floor finishing material installation system according to an embodiment of the present invention.

1 and 2, the floor finishing material installation system 100 is a floor cleaning and adhesive application robot 110, a finishing material installation robot 120, a finishing material loading robot 130, and a finishing material transfer robot 140. , a charging robot 150 , a 3D positioning device 160 , and an integrated management module 170 .

Here, the floor cleaning and adhesive application robot 110, the finishing material installation robot 120, the finishing material loading robot 130, the finishing material transport robot 140 and the charging robot 150 themselves look around and detect obstacles It is implemented as a robot capable of autonomous driving that can find the optimal route to the destination while doing so.

First, the floor surface cleaning and adhesive application robot 110 applies an adhesive to a certain thickness for cleaning the floor surface to install the finishing material and fixing the finishing material while moving to autonomous driving.

Next, the finishing material installation robot 120 installs the floor finishing material on the upper side of the adhesive surface coated with a constant thickness on the cleaned floor surface.

Next, the finishing material loading robot 130 loads the floor finishing material loaded on the pallet to the finishing material transporting robot 140 .

Next, the finishing material transfer robot 140 transfers the floor finishing material loaded from the finishing material loading robot to the finishing material installation robot to deliver the floor finishing material.

Next, the charging robot 150 is docked with at least one of a finishing material installation robot, a finishing material transfer robot, and a finishing material loading robot to supply electricity.

Next, the 3D positioning device 160 sets its position as the origin, measures the relative position and orientation information between a plurality of active markers installed at the job site using a vision-containing distance measurement sensor, and sends the information to each robot. to provide.

Next, the integrated management module 170 generates an installation control command of the floor finishing material, and the floor cleaning and adhesive application robot 110, the finishing material installation robot 120, the finishing material transfer robot 130, and the finishing material loading robot (140) and the charging robot 150 transmits a command for installing the floor finish, respectively.

As shown in FIG. 2, the floor finishing material installation system 100 uses the integrated management module 170 to arrange the floor surface and apply the adhesive robot 110, the finishing material installation robot 120, and the finishing material loading robot 130. , the finishing material transfer robot 140 and the charging robot 150 and the 3D positioning device 160 are controlled to install the floor finishing material in the work environment.

Hereinafter, the configuration of the floor finishing material installation system according to an embodiment of the present invention will be described in more detail with reference to FIGS. 3 to 8 .

3 is a view showing a floor cleaning and adhesive application robot according to an embodiment of the present invention.

As shown in FIG. 3 , the floor surface cleaning and adhesive application robot 110 according to an embodiment of the present invention includes a vision sensor 111 for autonomous driving and a vision sensor 112 for obstacle recognition, and a floor surface on which a finishing material is to be installed. Adhesive for tidying up and fixing finishing materials is applied with a certain thickness.

At this time, as shown in FIG. 3 , the floor surface cleaning and adhesive application robot 110 applies the adhesive for fixing the floor surface to install the finishing material and fixing the finishing material to a certain thickness.

4 is a view showing a robot for loading a finishing material according to an embodiment of the present invention.

As shown in FIG. 4 , the finishing material loading robot 120 has a horizontal arm 124 that can extend to the left and right based on a central axis 123 with a rotating part mounted on the lower side is attached, one side of the horizontal arm 124 . A vertical arm 125 for installing the floor finish is attached to the .

In addition, the vertical arm 125 of the finishing material loading robot 120 is provided with a plurality of floor photographing sensors 126 to face the floor direction at each corner of the lower side, and is installed on one side to move the floor finishing material and a work vision sensor 128 for

In addition, the floor cleaning and adhesive application robot 120 moves autonomously using the vision sensor 121 for autonomous driving, the vision sensor 122 for obstacle recognition, and the floor recognition sensor 127 .

5 is a view showing a robot for transferring finishing materials according to an embodiment of the present invention.

As shown in FIG. 5 , the finishing material transfer robot 130 includes a vision sensor 131 for autonomous driving, a vision sensor 132 for obstacle recognition, and a floor recognition sensor 137 .

At this time, as shown in FIG. 5 , the finishing material transfer robot 130 transfers the floor finishing material 20 loaded from the finishing material loading robot 120 to the position of the finishing material installation robot 150 by autonomous driving.

6 is a view showing a robot for installing a finishing material according to an embodiment of the present invention.

As shown in FIG. 6 , the finishing material installation robot 140 includes a vision sensor 141 for autonomous driving, a vision sensor 142 for obstacle recognition, a central axis 143 , a horizontal arm 144 , a vertical arm 145 , and a floor. It includes a photographing sensor 146 , a floor recognition sensor 147 , a working vision sensor 148 , and a balance auxiliary weight 149 .

At this time, the finishing material installation robot 140 is attached with a horizontal arm 144 that can extend to the left and right with respect to the central axis 143 on which the rotating part is mounted on the lower side, and the floor finishing material is installed on one side of the horizontal arm 144 . A vertical arm 145 is attached for this, and a balance auxiliary weight 149 is attached to the other side of the horizontal arm 144 to maintain the balance of the horizontal arm 144 .

In addition, the vertical arm 144 of the finishing material installation robot 140 has a plurality of floor photographing sensors 146 installed at each corner of the lower side to face the floor direction, and is installed on one side to move and install the floor finishing material and an operational vision sensor 148 for

At this time, the finishing material installation robot 140 recognizes the shape of the floor surface on which the adhesive present in the image taken from the floor photographing sensor 146 is applied with a certain thickness, Install the floor finish so that the corners are in contact with each other.

7 is a view showing a charging robot according to an embodiment of the present invention.

As shown in FIG. 7 , the charging robot 150 includes a vision sensor 151 for autonomous driving, a vision sensor 152 for obstacle recognition, and a floor recognition sensor 157 .

In particular, the charging robot 150 is docked with the finishing material loading robot 120 , the finishing material transferring robot 130 and the finishing material installing robot 140 , and includes a battery to provide power.

Here, the autonomous driving vision sensors 111 , 121 , 131 , 141 , and 151 include a plurality of active markers 30 installed at any point in the place where the floor finishing material is currently installed, and a floor cleaning and adhesive application robot 110 . ), the robot for loading finishing materials 120, the robot for transferring the finishing materials 130, the robot for installing the finishing materials 140 and the charging robot 150, respectively, using identification tags (not shown) installed on each robot position and orientation information recognize

In addition, the vision sensors for obstacle recognition (112, 122, 132, 142, 152) are a floor cleaning and adhesive application robot 110, a finishing material loading robot 120, a finishing material transfer robot 130, and a finishing material installation robot ( 140) and is installed on the front or rear of each of the charging robot 150, and recognizes obstacles around the robot.

And, the floor recognition sensors (127, 137, 147) are installed to face the floor direction in the finishing material loading robot 120, the finishing material transporting robot 130 and the finishing material installing robot 140, and recognizing the floor environment Prevents deviation from the working environment.

8 is a view showing a 3D positioning device according to an embodiment of the present invention.

As shown in FIG. 8 , the 3D positioning device 160 sets the currently installed position as the three-dimensional origin coordinates (0, 0, 0), that is, the reference coordinates, and a plurality of Each of the three-dimensional position coordinates and azimuth information of the active marker 30 is measured.

In this case, when the position of the 3D positioning device 160 is changed, the positions of the plurality of active markers installed in the work site are also changed.

As such, according to an embodiment of the present invention, it is possible to perform an accurate and uniform operation compared to a floor finishing material installed by a person, and to improve the floor construction quality.

In addition, it is possible to prevent accidents at the construction site, and it is possible to safely install the building materials in the correct position.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and those of ordinary skill in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

10: floor cleaning and adhesive application device, 20: floor finishing material
30: active marker,
100: floor finish installation system;
110: floor cleaning and adhesive application robot,
111, 121, 131, 141, 151: vision sensor for autonomous driving;
112, 122, 132, 142, 152: vision sensor for obstacle recognition;
120: robot for loading finishing materials, 123, 143: central axis
124, 144: horizontal arm, 125, 145: vertical arm
126, 146: a sensor for photographing the floor;
127, 137, 147: floor recognition sensor,
128, 148: vision sensor for work;
130: robot for transferring finishing materials, 140: robot for installing finishing materials
149: counterweight, 150: charging robot
160: 3D positioning device, 170: integrated management module

Claims (10)

In the floor finishing material installation system using autonomous driving,
A floor cleaning and adhesive application robot that applies adhesive to a certain thickness for fixing the finishing material and cleaning the floor to install the finishing material while moving with autonomous driving;
A finishing material loading robot that loads the floor finishing material loaded on the pallet;
A finishing material transport robot that transports and delivers the floor finishing material loaded from the finishing material loading robot,
A finishing material installation robot that receives the floor finishing material from the finishing material transfer robot and installs the floor finishing material on the adhesive surface coated with a constant thickness on the cleaned floor surface, and,
A floor finishing material installation system including a 3D positioning device that sets its position as the origin and recognizes the position and orientation information of a plurality of active markers installed at the job site by using a distance measuring sensor including vision. According to claim 1,
The finishing material installation system further comprising a charging robot docked with at least one of the finishing material installation robot, the finishing material transfer robot, and the finishing material loading robot to supply electricity. 3. The method of claim 2,
The floor cleaning and adhesive application robot, the finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the charging robot each have different identification tags, a vision sensor for autonomous driving, a vision sensor for obstacle recognition, and a floor recognition Finish installation system to which the sensor is attached. 4. The method of claim 3,
The vision sensor for autonomous driving,
Recognizing the different identification tags and positions of the active markers installed in the finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the charging robot,
The finishing material installation robot, the finishing material transfer robot, the finishing material loading robot, and the charging robot recognize the surrounding environment through the floor recognition sensor to prevent departure from the current working environment. 4. The method of claim 3,
The floor recognition sensor
The finishing material installation robot, the finishing material transfer robot, the finishing material loading robot and the floor finishing material installation system installed below the charging robot. 6. The method of claim 5,
The floor recognition sensor,
at least one of vision, lidar and radar;
The robot for installing the finishing material, the robot for transferring the finishing material, the robot for loading the finishing material, and the robot for charging,
A floor finishing material installation system that recognizes the surrounding environment through the floor recognition sensor and prevents departure from the current working environment. 6. The method of claim 5,
The vision sensor for recognizing obstacles,
A floor covering installation system that includes at least one of a vision, a lidar, and a radar, and recognizes obstacles existing in the finishing material installation robot, the finishing material transport robot, the finishing material loading robot and the charging robot. According to claim 1,
The robot for loading the finishing material or the robot for installing the finishing material,
A central shaft with a rotating part on the lower side,
a horizontal arm coupled to the central side and extending to the left and right;
a vertical arm attached to one side of the horizontal arm and operating in a vertical direction to install the floor finishing material on the floor;
a balance auxiliary weight installed on the other side of the horizontal arm to maintain the balance of the horizontal arm;
A plurality of floor photographing sensors installed to face the floor direction at each edge of the lower side of the vertical arm and recognizing the shape of the floor surface on which an adhesive is applied to a certain thickness, and
A floor finish installation system including a vision sensor installed on one side of the vertical arm for moving and installing the floor finish. 9. The method of claim 8,
The robot for installing the finishing material,
Recognizing the shape of the floor surface to which the adhesive present in the image taken from the floor photographing sensor is applied with a certain thickness, and positioning the floor finish material so that the corners of the floor finish material installed around the reference coordinate system of the first building are in contact with each other Floor covering installation system. 3. The method of claim 2,
The 3D positioning device,
It sets its own position as the origin, measures the relative position and orientation information between a plurality of active markers installed at the work site using a vision-included distance measuring sensor, and uses the external integrated management module to organize the floor and apply the adhesive. , The finishing material installation robot, the finishing material transfer robot, the finishing material loading robot, and the floor finishing material installation system for transmitting the relative position and orientation information for installing the floor finishing material to the charging robot, respectively.

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