WO2022005081A1

WO2022005081A1 - Unmanned robot control system for access floor construction

Info

Publication number: WO2022005081A1
Application number: PCT/KR2021/007742
Authority: WO
Inventors: 차맹규; 박현일; 김희수; 임연직; 박훈채; 김진수; 장일규; 이지응; 최욱진; 김동근
Original assignee: 삼성물산 주식회사
Priority date: 2020-06-30
Filing date: 2021-06-21
Publication date: 2022-01-06
Also published as: KR20220001840A; KR102358794B1

Abstract

The present invention relates to an unmanned robot control system for constructing an access floor comprising: an installation frame (10); a pad (20) attached to the installation frame (10); and a floor (30) coupled to the pad (20), wherein, without performing, by a worker, dangerous floor installation work, an automated robot installs mats and floors so that occurrence of workplace safety accidents may be prevented. According to the present invention, an unmanned robot comprises: a pad installation robot (100) for attaching the pad (20) to the installation frame (10); a floor installation robot (200) for mounting the floor (30) on the pad (20); and a bolting robot (300) for fastening the pad (20) and the floor (30) using a fastening means (40), and the unmanned robot control system comprises: an input unit (610) for receiving construction information (700); a control unit (620) for controlling the unmanned robot; and a sensor unit (630) for generating generated information (800).

Description

Unmanned robot control system for access floor construction

The present invention relates to an unmanned robot control system for access floor construction, and more particularly, using a pad installation robot, a floor installation robot, and a bolting robot having a unique structure for access floor construction, to construct an access floor without providing manpower It relates to an unmanned robot control system for access floor construction.

Access floor is a compound word of ACCESS (access, in computer terminology, inserting or extracting information into or out of a computer system) and floor (FLOOR: floor). Accordingly, it is also called a raised floor, a double floor, or an O/A floor.

The access floor refers to a raised floor that has been proposed to secure a more comfortable and efficient office space in the information age when the use of computers is increasing.

In general, clean or super-clean conditions such as semiconductor fab, TFT-LCD fab or PDP fab, pharmaceutical or food manufacturing plants, or workshops and operating rooms that produce or assemble optical products, printing or precision machinery, etc. In a place where it is required, fine or ultrafine dust or mist has a profound effect on the quality of the product, so it is strictly blocked from the outside, and temperature and humidity are maintained within a predetermined range through constant temperature and constant humidity control. A clean room with a raised floor is provided to prevent vibration.

An access floor means creating another floor by placing a space at a certain height on a flat floor to satisfy the above needs. And it is formed so that the cable can be placed in the space and the floor can be opened and closed as needed for the rearrangement of the cables.

For the construction of an access floor, it is common to form an installation frame and an operator to form a pad and a floor on the installation frame.

However, since the height of the installation frame is 3 ~ 9m, there is a risk of an operator falling accident, so access floor construction is a task that professional technicians avoid. Accordingly, it is difficult to nurture skilled professional workers.

In addition, since it is necessary to install a safety net or lifeline in order to secure the safety of the workers, the cost and time for securing the safety are excessively required. In addition, since the floor is a heavy object weighing about 20 kg, the musculoskeletal disease of the worker who installs it always exists, and the leveling operation of the floor, which is a heavy object, has a very high level of work difficulty, so that the overall process is prolonged.

The present invention was derived to solve the problem of the conventional access floor construction described above, and an object of the present invention is to allow an automated robot to install a mat and a floor without an operator performing a dangerous floor installation task, thereby causing a workplace safety accident It is to provide an unmanned robot control system for access floor construction that can prevent

Another object of the present invention is to reduce the construction cost and shorten the construction period by enabling the floor installation location selection and leveling operation to be quickly performed through the installation of the mat and the floor by the robot. To provide a control system.

Another object of the present invention is to provide an unmanned robot control system for access floor construction that can guarantee construction quality above a certain level by constructing most of the access floors using a robot.

According to one aspect of the present invention, an unmanned robot for constructing an access floor including an installation frame 10 , a pad 20 attached to the installation frame 10 , and a floor 30 coupled to the pad 20 . In the unmanned robot control system for controlling, the unmanned robot comprises: a pad installation robot (100) for attaching the pad (20) to the installation frame (10); a floor installation robot 200 for mounting the floor 30 on the pad 20; and a bolting robot 300 for coupling the pad 20 and the floor 30 using a coupling means 40; an input unit 610 for receiving construction information 700; a control unit 620 for controlling the unmanned robot; and a sensor unit 630 for generating generation information 800; is provided an unmanned robot control system comprising a.

In this case, the construction information 700 includes: pad distance information 710 on the distance between the adjacent pads 20 of the plurality of pads 20 installed in the installation frame 10; floor type information 720 on the type of the floor 30 mounted on the pad 20; Pad number information 730 on the number of the pads 20 installed on the installation frame 10 in one row; Floor number information 740 on the number of the floors 30 installed in the installation frame 10 in one row; and the insertion hole number information 750 of the insertion hole 13 into which the coupling means 40 is inserted. It may be an unmanned robot control system comprising a.

In addition, the generated information 800 includes location information 810 about the location of the unmanned robot generated by the location sensor 631; and distance information 820 on a distance between a plurality of unmanned robots generated by a distance sensor 632; but, the location information 810 includes: a pad installation robot location information 811; Floor installation robot location information (812); and bolting robot position information 813; may be an unmanned robot control system comprising a.

In addition, the control unit 620 includes a pad installation module 621 for controlling the pad installation robot 100; a floor installation module 622 for controlling the floor installation robot 200; and a bolting module 623 for controlling the bolting robot 300; may be an unmanned robot control system comprising a.

In addition, the pad installation robot 100 includes a first detection sensor 110 for sensing the installation position 11 of the pad 20 on the installation frame 10; a first installation arm 120 for moving the pad 20 to the installation position 11; a first transportation means 130 for moving the first installation arm 120; and an adhesive providing unit 140 that provides an adhesive to the lower surface of the pad 20, wherein the pad installation module 621 derives installation location information 711 using the pad distance information 710, , the first detection sensor 110 may be an unmanned robot control system, characterized in that it specifies the installation location 11 based on the installation location information 711.

In addition, the floor installation robot 200, a transport unit 210 for transporting the floor 30 in a loaded state; and an installation unit 220 for mounting the floor 30 on the transportation unit 210 to the pad 20, wherein the transportation unit 210 is based on the position information 811 of the pad installation robot Thus, it may be an unmanned robot control system, characterized in that the floor 30 is transported to the vicinity of the installation unit 220 .

In addition, the installation unit 220 includes a second detection sensor 221 for sensing the mounting position 12 of the floor 30; a second installation arm 222 for moving the floor 30 to the mounting position 12; and a second transportation means (230) for moving the second installation arm (222), wherein the floor installation module (622) receives gripping selection information (721) based on the floor type information (720). However, the gripping selection information 721 may be an unmanned robot control system, characterized in that it is information about the type of the floor 30 to be gripped by the second installation arm 222 .

In addition, the bolting robot 300, a third detection sensor 310 for sensing the insertion hole (13); a third installation arm 320 for moving the coupling means 40 to the insertion hole 13; and a third transportation means 330 for moving the third installation arm 320; including, wherein the bolting module 623 is the third detection sensor 310 based on the insertion hole number information 750 It may be an unmanned robot control system, characterized in that deriving the target number information 751 of the insertion hole 13 to be sensed.

In addition, the construction information 700 includes information 760 of the horizontality range to be maintained by the floor 30 mounted on the pad 20 , but the bolting robot 300 is the floor 30 . It further includes; a level measurement sensor 350 for measuring the level of 760), it may be an unmanned robot control system, characterized in that it derives progress information 761 for determining whether to proceed with the work of the bolting robot 300.

According to another aspect of the present invention, in the method of constructing an access floor using an unmanned robot control system, the first step of constructing the installation frame 10 and the peripheral slab 60 formed in the periphery of the installation frame ( S100); a second step (S200) of positioning the unmanned robot on the peripheral slab (60); and a third step (S300) in which the unmanned robot moves along the peripheral slab (60) and couples the floor (30) to the installation frame (10); do.

According to another aspect of the present invention, there is provided a computer-readable recording medium in which a program for executing an access floor construction method is recorded.

According to the present invention, there is an effect of preventing the occurrence of safety accidents in the workplace by allowing the automated robot to install the mat and the floor without the worker performing a dangerous floor installation operation.

According to the present invention, there is an effect of reducing the construction cost and shortening the construction period by allowing the floor installation location selection and leveling operation to be performed quickly through the installation of the mat and the floor by the robot.

According to the present invention, there is an effect that can guarantee the construction quality above a certain level by constructing most of the access floors using a robot.

1 is a plan view showing the configuration of an installation frame, a lift facility, and a peripheral slab in an access floor construction process according to an embodiment of the present invention;

Figure 2 is a detailed view of the first installation arm of the pad installation robot according to an embodiment of the present invention.

Figure 3 is a detailed view of the second installation arm of the floor installation robot according to an embodiment of the present invention.

Figure 4 is a detailed view of the third installation arm of the bolting robot according to an embodiment of the present invention.

5 is a view showing a state in which the unmanned robot is drawn into the peripheral slab through the elevating means.

6 and 7 are views showing a state in which the unmanned robot is aligned near the installation frame for the construction of the access floor.

8 to 11 are views showing a process in which the pad installation robot adheres the pad to the installation frame.

12 to 20 are views illustrating a process in which the floor installation robot mounts the floor on top of the pad.

21 to 22 are views showing a process in which the bolting robot combines the pad and the floor using a coupling means.

23 is a plan view of a pad used for unmanned construction of an access floor according to an embodiment of the present invention.

24 to 26 are views showing a movement path of an unmanned robot according to an embodiment of the present invention.

27 is a view showing a movement path of the transport unit of the pad installation robot according to an embodiment of the present invention.

28 is a flowchart of an access floor construction method according to an embodiment of the present invention.

29 is a block diagram of a control system according to an embodiment of the present invention.

30 is a block diagram of a module according to an embodiment of the present invention;

31 is a functional diagram of a pad installation module according to an embodiment of the present invention;

32 is a functional diagram of a floor installation module according to an embodiment of the present invention;

33 is a functional diagram of a bolting module according to an embodiment of the present invention.

An embodiment of an unmanned robot control system for access floor construction according to the present invention will be described in detail with reference to the accompanying drawings. A duplicate description will be omitted.

In addition, terms such as first, second, etc. used below are merely identification symbols for distinguishing the same or corresponding components, and the same or corresponding components are limited by terms such as first, second, etc. no.

In addition, the term "coupling" does not mean only when there is direct physical contact between each component in the contact relationship between each component, but another component is interposed between each component, so that the component is in the other component. It should be used as a concept that encompasses even the cases in which each is in contact.

The present invention relates to an unmanned robot control system for access floor construction. Before describing the specific configuration of the control system, an access floor construction method performed by the control system will be described.

The access floor constructed by the unmanned robot control system according to an embodiment of the present invention includes an installation frame 10, a pad 20 attached to the installation frame 10, and a floor 30 coupled to the pad 20. include

The installation frame 10 is a basic frame that allows the floor 30 to be installed spaced apart by a predetermined distance from the bottom, and forms a lower space under the floor 30 to allow installation of various equipment and construction of an air conditioning system. to form

The pad 20 is mainly bonded to the installation frame 10 to be installed, and one corner of the floor 30 is mounted on the top. In general, the four corners of the floor 30 are mounted on the upper surface of the pad 20 for construction.

The pad 20 includes a mounting part 21 on which the edge of the floor 30 is mounted, a guide part 22 that divides the edge of the neighboring floor 20 , and a bolt coupling the floor 20 and the pad 20 . (41) may include a configuration of the through hole 23 is inserted (FIG. 23).

The pad 20 serves to couple the floor 30 to the installation frame 10 and to specify the installation position of the floor 10 .

However, when the pad 20 is installed by manpower, accurate leveling and positioning of the floor 30 is difficult, so after the temporary installation, it is necessary to remove the floor 30 again and perform the cumbersome work of bonding the pad 20. there is a problem. Accordingly, it takes a lot of time to construct the access floor, and since it is necessary to install the worker's floor 30 twice, there are problems such as safety accidents and strain on the worker's body.

In order to solve this problem, in the present invention, the entire process of installing the pad 20 required for the construction of the access floor, mounting the floor 30 and combining the pad 20 and the floor 30 are performed using an unmanned robot.

The access floor construction method using an unmanned robot control system according to an embodiment of the present invention includes the first step (S100) of constructing the installation frame 10 and the peripheral slab 60 formed in the peripheral portion of the installation frame (S100), the peripheral slab 60 ) includes a second step (S200) of locating the unmanned robot and a third step (S300) of the unmanned robot moving along the peripheral slab 60 and coupling the floor 30 to the installation frame 10 .

In the present invention, the unmanned robot is an object that constructs an access floor by replacing a manpower, and the unmanned robot is controlled by being connected to the control server 1 through wired or wireless communication.

The control server 1 includes a manipulation module for operation and operation of the unmanned robot, and the control server 1 may be mounted on the unmanned robot itself.

The unmanned robot in the present invention is a pad installation robot 100 for attaching the pad 20 to the installation frame 10 , a floor installation robot 200 for mounting the floor 30 on the pad 20 , and a pad 20 ) and a bolting robot 300 for coupling the floor 30 with the coupling means 40 ( FIG. 5 ).

Specifically, the pad installation robot 100 is an unmanned robot that attaches the pad 20 to the installation frame 10 ( FIGS. 8 to 11 ), and the installation position 11 of the pad 20 on the installation frame 10 . The first detection sensor 110 for sensing, the first installation arm 120 for moving the pad 20 to the installation position 11, the first transportation means 130 for moving the first installation arm 120, and the pad It may include an adhesive providing unit 140 that provides an adhesive to the lower surface of the 20 (FIG. 2).

The first detection sensor 110 includes a configuration such as a vision sensor.

The first installation arm 120 is configured to grip the pad 20 and transport it to the installation position 11 , and a first gripper 121 and a first gripper 121 for adsorbing and gripping the pad 20 . ) may include a second gripper 122 surrounding the side and lower surfaces of the pad 20 adsorbed to the pad 20 .

The first gripper 121 grips one surface of the pad 20 by vacuum adsorption.

The second gripper 122 serves as a safety device surrounding the pad 20 so that the pad 20 adsorbed to the first gripper 121 is not separated from the first installation arm 120 when the pad 20 is detached due to an impact or error. carry out

To this end, the second gripper 122 includes a first guide portion 122a protruding downward (a) from an end of the first installation arm 120 and a first guide portion 122a extending inwardly from the first guide portion 122a (b). It may include two guide parts (122b).

The first guide part 122a may be hinge driven with respect to the first installation arm 120 . In this case, when the pad 20 is adsorbed to the first gripper 121 , the second guide part 122b is hinged toward the inner side b to surround the pad 20 adsorbed to the first gripper 121 . take shape In comparison, in a state in which the pad 20 is separated from the first gripper 121 , the hinge is driven toward the outside c so that the pad 20 separated from the first gripper 121 is moved from the first installation arm 120 . to allow it to escape.

The pad installation robot 100 may further include a body 150 on which the first installation arm 120 is mounted. In this case, the adhesive providing unit 140 may be provided on the main body 150 , and a discharge hole 141 through which the adhesive is discharged may be formed in the adhesive providing unit 140 .

The first installation arm 120 grips the pad 20 loaded on the pad loading unit 150 to bring the pad 20 into contact with the discharge hole 141 so that the adhesive is applied to the adhesive surface of the pad 20 . .

Thereafter, the first installation arm 120 transports the pad 20 so that the adhesive surface of the pad 20 may come into contact with the installation position 11 .

The floor installation robot 200 serves to mount the floor 30 on the pad 20 ( FIGS. 12 to 20 ). In general, the edge of the floor 30 is mounted on the mounting portion 21 of the pad 20 .

To this end, the floor installation robot 200 includes a transport unit 210 that transports the floor 30 in a loaded state and an installation unit 220 that mounts the floor 30 on the transport unit 210 to the pad 20. may be included (FIG. 6).

* Since the floor 30 is a large construction material with a high weight, when it is loaded and transported on one unmanned robot, the size of the unmanned robot increases and the construction efficiency may be lowered.

To this end, in the present invention, a transport unit 210 for loading and transporting the floor 30 is separately provided to perform a role of loading and transporting the floor 30 in the vicinity of the installation unit 220 .

The transport unit 210 may transport the floor 30 to the vicinity of the installation unit 220 based on the pad installation robot position information 811 as will be described later.

Of course, depending on the situation, the transport unit 210 and the installation unit 220 may be configured as a single unit.

The installation unit 220 includes a second detection sensor 221 for sensing the mounting position 12 of the floor 30 , a second installation arm 222 for moving the floor 30 to the mounting position 12 , and a second It may include a second vehicle 230 for moving the installation arm 222 (FIG. 3).

It is possible that the configuration corresponding to the first gripper 121 and the second gripper 122 of the pad installation robot 100 described above is also formed in the second installation arm 222 of the installation unit 220, in this case the installation The object is changed from the pad 20 to the floor 30 .

The bolting robot 300 serves to couple the floor 30 mounted on the pad 20 using the coupling means 40 ( FIGS. 21 to 22 ).

To this end, the bolting robot 300 includes a third detection sensor 310 that senses the insertion hole 13 into which the coupling means 40 is inserted, and a third installation arm that moves the coupling means 40 to the insertion hole 13 . It may include a third vehicle 330 for moving the 320 and the third installation arm 320 (FIG. 4).

In general, the coupling means 40 is a bolt 41 , and the insertion hole 13 is formed in the pad 20 and the floor 30 . In this case, the bolting robot 300 may include a bolting unit 340 for coupling the bolt 41 to the insertion hole 13 .

The unmanned robot including the pad installation robot 100 , the floor installation robot 200 , and the bolting robot 300 may include a position sensor 631 and a distance sensor 632 , respectively.

Since the access floor unmanned construction system according to the present invention includes a plurality of unmanned robots, the position, distance and corresponding positions of the individual unmanned robots through the position sensor 631 and the distance sensor 632 mounted on each unmanned robot It is possible to control the contents of the work to be performed.

The manipulation module included in the control server 1 defines the operation contents of the unmanned robot using information generated by the position sensor 631 and the distance sensor 632 of the unmanned robot.

The access floor construction method using an unmanned robot according to an embodiment of the present invention includes the first step (S100) of constructing the installation frame 10 and the peripheral slab 60 formed in the peripheral portion of the installation frame (S100), the peripheral slab 60 It may include a second step (S200) of positioning the unmanned robot in the .

The unmanned robot installs the floor 30 along a predetermined direction and repeatedly performs the third step (S300) to construct the access floor (FIGS. 24-26).

When the peripheral slab 60 is formed on a high floor, the first step (S100) may include a lifting facility construction step (S110) of constructing an elevator facility 50 that transports the unmanned robot to the peripheral slab 60 level. .

The third step (S300) is a pad attachment step (S310) of attaching the pad 20 to the installation frame 10 using the pad installation robot 100, and the pad 20 using the floor installation robot 200. The floor mounting step (S320) of mounting the floor 30 and the pad 20 and the floor 30 using the bolting robot 300 are coupled using the coupling means 40 using the coupling means 40 - the floor coupling step (S330) ) may be included.

In this case, the pad attaching step (S310) is an adhesive attaching step ( S311) and a pad installation step (S312) of transporting the rear surface of the pad 20 to the upper surface of the installation frame 10 by using the first installation arm 120 .

In addition, the floor mounting step (S320) is a transport step (S321) of moving the floor 30 to the vicinity of the installation unit 220 using the transport unit 210 and the transport unit 210 using the installation unit 220 It may include a mounting step (S322) of mounting the floor (30) loaded on the pad (20).

The mounting step (S322) is a sensing step (S3221) of sensing the mounting position 12 where the floor 30 is to be mounted using the second detection sensor 221 and the transport unit using the second installation arm 222 ( It may include a moving step (S3222) of moving the floor (30) loaded on the 210 to the mounting position (12).

The pad-floor coupling step (S330) includes an insertion hole sensing step (S331) of sensing the insertion hole 121 using the third detection sensor 310, and coupling means 40 using the third installation arm 320. It may include a coupling means transfer step (S332) of moving the , to the insertion hole 13, and a bolting step (S333) of coupling the coupling means 40 to the insertion hole 13 using the bolting unit 340.

The bolting robot 300 according to an embodiment of the present invention may further include a level measuring sensor 350 for measuring the level of the floor 30 ( FIG. 4 ).

In this case, the pad-floor coupling step S330 may be performed only when the level A measured by the level measurement sensor 350 is within a predetermined value. Accordingly, the bolting robot 300 performs construction in such a way that the next floor 30 is coupled to the pad 20 while maintaining the horizontality of the floor 30 on which the construction is performed within a predetermined value, so the overall floor 30 It is possible to keep the horizontality within a predetermined error range.

Accordingly, the access floor constructed by the access floor construction method according to the present invention has the advantage of securing a high level of horizontality construction quality.

The level measuring sensor 350 may be applied to any method capable of measuring a level such as a level sensor.

In the method of constructing an access floor according to the present invention, the minimum construction of only the periphery slab 60 formed in the periphery of the elevator facility 50 and the installation frame 10 for the movement of the unmanned robot is performed by inputting manpower, and then the access floor The construction for the formation is performed through an unmanned robot, which increases the efficiency and quality of the access floor construction, and has the effect of remarkably reducing the risk of worker injury or safety accident.

Hereinafter, an unmanned robot control system for access floor construction for performing a construction method according to an embodiment of the present invention will be described.

The unmanned robot control system according to an embodiment of the present invention includes an input unit 610 for receiving construction information 700 , a control unit 620 for controlling the unmanned robot, and a sensor unit 630 for generating generation information 800 . Including (FIG. 29).

The unmanned robot control system according to the present invention is characterized in that the construction of the access floor is performed by the construction information 700 input in advance and the generation information 800 generated by the sensor unit 630 in the construction process.

In this case, the construction information 700 includes the pad distance information 710 on the distance between the adjacent pads 20 of the plurality of pads 20 installed in the installation frame 10 , and the floor mounted on the pad 20 . (30) floor type information 720 about the type, pad number information 730 about the number of pads 20 installed on the installation frame 10 in one row, installed in the installation frame 10 in one row It may include the number of floors information 740 on the number of the floors 30 and the number of insertion holes information 750 of the insertion hole 13 into which the coupling means 40 is inserted.

In addition, the generated information 800 includes location information 810 about the location of the unmanned robot generated by the location sensor 631 and distance information 820 about the distance between the plurality of unmanned robots generated by the distance sensor 632 . ) may be included. The location information 810 is information about the location of each unmanned robot, and may include pad installation robot location information 811, floor installation robot location information 812, and bolting robot location information 813 depending on the type of unmanned robot. have.

The controller 620 may control the distance and position between the unmanned robots by controlling the transportation means of each unmanned robot using the location information 810 and the distance information 820 .

The control unit 620 controls the movement of each unmanned robot based on the information derived by the performing module.

In this case, the performing module includes a pad installation module 621 for controlling the pad installation robot 100 , a floor installation module 622 for controlling the floor installation robot 200 , and a bolting module for controlling the bolting robot 300 . (623).

The pad installation module 621 derives the installation location information 711 using the pad distance information 710 , and the first detection sensor 110 specifies the installation location 11 based on the installation location information 711 . do.

In addition, the floor installation module 622 derives the gripping selection information 721 based on the floor type information 720, but the gripping selection information 721 is the floor to be gripped by the second installation arm 222 ( 30) corresponds to the type of information.

The floor type information 720 may include information on the number of types of floors 30 , floor 30 type information, and the like.

In addition, the bolting module 623 may derive the target number information 751 of the insertion hole 13 to be sensed by the third detection sensor 310 based on the insertion hole number information 750 .

The construction information 700 of the unmanned robot control system according to an embodiment of the present invention may further include horizontality range information 760 to be maintained by the floor 30 mounted on the pad 20 .

In this case, the bolting module 623 compares the level information 351 generated by the level measurement sensor 350 with the level range information 760 to determine whether to proceed with the operation of the bolting robot 300 ( 761) can be derived.

The method of constructing an access floor using an unmanned robot control system according to an embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer readable medium.

The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Since the above has only been described with respect to some of the preferred embodiments that can be implemented by the present invention, as noted, the scope of the present invention should not be construed as being limited to the above embodiments, and It will be said that the technical idea and the technical idea with the root are all included in the scope of the present invention.

Industrial applicability of the present invention is recognized in connection with the construction of an access floor.

10: installation frame

20: pad

30: floor

100: pad installation robot

200: floor installation robot

300: bolting robot

Claims

In an unmanned robot control system for controlling an unmanned robot for constructing an access floor including an installation frame 10, a pad 20 attached to the installation frame 10, and a floor 30 coupled to the pad 20 in,

The unmanned robot is

a pad installation robot 100 for attaching the pad 20 to the installation frame 10;

a floor installation robot 200 for mounting the floor 30 on the pad 20; and

A bolting robot 300 for coupling the pad 20 and the floor 30 using a coupling means 40; includes;

an input unit 610 for receiving construction information 700;

a control unit 620 for controlling the unmanned robot; and

An unmanned robot control system comprising a; a sensor unit (630) for generating generation information (800).
According to claim 1,

The construction information 700 is

Pad distance information 710 on the distance between the adjacent pads 20 of the plurality of pads 20 installed in the installation frame 10;

floor type information 720 on the type of the floor 30 mounted on the pad 20;

Pad number information 730 on the number of the pads 20 installed on the installation frame 10 in one row;

Floor number information 740 on the number of the floors 30 installed in the installation frame 10 in one row; and

Insertion hole number information 750 of the insertion hole 13 into which the coupling means 40 is inserted;

Unmanned robot control system, characterized in that it comprises.
3. The method of claim 2,

The generated information 800 is,

location information 810 on the location of the unmanned robot generated by the location sensor 631; and

Distance information 820 on the distance between a plurality of unmanned robots generated by the distance sensor 632; including;

The location information 810 is

Pad installation robot location information (811);

Floor installation robot location information (812); and

Vaulting robot position information (813); Unmanned robot control system comprising a.
4. The method of claim 3,

The control unit 620 is

a pad installation module 621 for controlling the pad installation robot 100;

a floor installation module 622 for controlling the floor installation robot 200; and

A bolting module 623 for controlling the bolting robot 300;

Unmanned robot control system, characterized in that it comprises.
5. The method of claim 4,

The pad installation robot 100 is

a first detection sensor 110 for sensing the installation position 11 of the pad 20 on the installation frame 10;

a first installation arm 120 for moving the pad 20 to the installation position 11;

a first transportation means 130 for moving the first installation arm 120; and

Including an adhesive providing unit 140 for providing an adhesive to the lower surface of the pad 20,

The pad installation module 621 derives the installation location information 711 using the pad distance information 710,

The first detection sensor 110 is an unmanned robot control system, characterized in that for specifying the installation location (11) based on the installation location information (711).
6. The method of claim 5,

The floor installation robot 200,

a transport unit 210 for transporting the floor 30 in a loaded state; and

An installation unit 220 for mounting the floor 30 on the transport unit 210 to the pad 20; including,

The transport unit (210) is an unmanned robot control system, characterized in that it transports the floor (30) to the vicinity of the installation unit (220) based on the position information (811) of the pad installation robot.
7. The method of claim 6,

The installation unit 220 is

a second detection sensor 221 for sensing the mounting position 12 of the floor 30;

a second installation arm 222 for moving the floor 30 to the mounting position 12; and

A second transportation means 230 for moving the second installation arm 222; including,

The floor installation module 622 derives gripping selection information 721 based on the floor type information 720,

The gripping selection information (721) is an unmanned robot control system, characterized in that the second installation arm (222) is information about the type of the floor (30) to be gripped.
8. The method of claim 7,

The bolting robot 300,

a third detection sensor 310 for sensing the insertion hole 13;

a third installation arm 320 for moving the coupling means 40 to the insertion hole 13; and

A third transportation means (330) for moving the third installation arm (320); including,

The bolting module 623 derives the target number information 751 of the insertion hole 13 to be sensed by the third detection sensor 310 based on the insertion hole number information 750 robot control system.
9. The method of claim 8,

The construction information 700 includes information 760 of the horizontality range to be maintained by the floor 30 mounted on the pad 20;

The bolting robot 300 is

It further includes; a level measuring sensor 350 for measuring the level of the floor 30,

The bolting module 623 compares the level information 351 generated by the level measurement sensor 350 with the level range information 760 to determine whether to proceed with the operation of the bolting robot 300 . Unmanned robot control system, characterized in that deriving the information (761).
In the method of constructing an access floor using the unmanned robot control system of claim 9,

A first step (S100) of constructing the installation frame 10 and the peripheral slab 60 formed around the installation frame;

a second step (S200) of positioning the unmanned robot on the peripheral slab (60); and

A third step (S300) of the unmanned robot moving along the peripheral slab 60 and coupling the floor 30 to the installation frame 10;

Access floor construction method, characterized in that it includes.
A computer-readable recording medium in which a program for executing the access floor construction method of claim 10 is recorded.