Wireline robot system and control method of wireline robot system

Abstract

Provided is a wire marking robot system improved in that it enables wire marking in which the contents of wire marking are edited into contents that are easy for an operator to work on. The wire marking robot system (1) is configured to include a wire marking robot (10) that performs wire marking based on wire marking information by a printer, a tracking type three-dimensional measuring device (20) that measures the position of the wire marking robot, a control operation unit (30) that controls the wire marking robot, and the wire marking information stored in the wire marking robot is composed of basic wire marking information and editable information corresponding to the basic wire marking information. The control operation unit displays an editing screen for editing the editable information based on the wire marking information, an operator operates the editing screen, the control operation unit (30) generates customized wire marking information based on the operation result, transmits it to the wire marking robot (10), and the wire marking robot (10) performs wire marking in accordance with the customized wire marking information.

Description

Technical Field

[0001] This invention relates to a wire-laying robot system and a control method for the wire-laying robot system. Background Technology

[0002] In recent years, there has been a growing trend of automating construction site work, such as line setting (construction line setting), using robots. For example, such an automated line setting robot system is disclosed in Patent Document 1 (Japanese Patent Application Publication No. 2019-31901).

[0003] Patent Document 1 discloses a wire-laying robot system. This system includes a printing mechanism (printer) mounted on a movable body capable of two-dimensional movement and a control mechanism. The control mechanism moves the movable body to a wire-laying printing position (layout point) based on a measured position determined by a three-dimensional measuring mechanism and supplies control information for wire laying to the printing unit (printer). Furthermore, in Patent Document 1, a two-dimensionally movable actuator and a printer rotatably mounted on the actuator are mounted on the movable body, enabling the printing of the length and arbitrary direction of the printed ink line, as well as the attribute information of the ink line, at the wire-laying position.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-31901 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] Previously, in surveying operations performed by skilled personnel, the content (lines, shapes, statements, etc.) of the surveying printouts were appropriately modified as needed based on the equipment installed on the building, making the displays easily understandable to the operators installing the equipment, thus reducing the occurrence of human errors. This applies to various equipment in construction projects, such as the anchoring positions of installed equipment, the anchoring positions of ceiling-mounted equipment, and the locations of electrical appliances or air conditioners. In surveying operations performed by skilled personnel, the shapes and statements of the survey lines are added to or modified to be easily understood by the operators, and the surveying printouts are made clear to those installing the equipment.

[0009] In contrast, conventional wire-laying robot systems (such as Patent Document 1) lay out and print wires at a predetermined location in a predetermined format, lacking the ability for on-site operators (workers) to easily customize the wire-laying content as needed (the ability to add, modify, etc.). That is, the wire-laying and printing content is based on pre-set wire-laying information and cannot be customized to user-friendly printing content according to the operator's ideas.

[0010] Therefore, the object of the present invention is to improve the wire-laying robot system so that instead of uniformly performing wire-laying and printing, the operator (worker) can edit the wire-laying and printing content into content that is easy to work with, so that wire-laying with shapes or words similar to those performed by skilled personnel in the past can be performed.

[0011] Methods used to solve problems

[0012] As one example, the present invention is a wire-laying robot system comprising: a wire-laying robot; a printer for wire-laying printing; an actuator mounted on the printer and capable of moving the printer; a movable body mounted on the printer and the actuator and moving thereon; and a main control unit for controlling the printer, the actuator, and the movable body; a tracking-type three-dimensional measuring device for measuring the position of the wire-laying robot and sending the position measurement result to the main control unit; and a control operation unit for instructing the main control unit on wire-laying processing through communication with the main control unit; the wire-laying robot... The line robot system is characterized in that the main control unit has the function of sending and receiving information with the tracking three-dimensional measuring device and the control operation unit, and stores the line laying information consisting of basic line laying information and editable information corresponding to the basic line laying information; the control operation unit acquires the line laying information, displays an editing screen for the operator to edit the editable information, generates customized line laying information based on the operation results in the editing screen, and sends it to the main control unit; the main control unit performs the line laying and printing according to the customized line laying information.

[0013] Furthermore, another example of the present invention is a control method for a wire-laying robot system. The wire-laying robot system includes: a wire-laying robot that mounts a printer on a mobile body and performs wire-laying printing based on wire-laying information; a tracking-type three-dimensional measuring device that measures the position of the wire-laying robot; and a control operation unit that sends information for controlling the wire-laying robot. The control method for the wire-laying robot system is characterized in that the wire-laying information is constructed using basic wire-laying information and editable information corresponding to the basic wire-laying information; an editing screen is displayed on the control operation unit based on the wire-laying information; the control operation unit generates customized wire-laying information based on the operation result of the editing screen; and the wire-laying robot performs wire-laying printing according to the customized wire-laying information.

[0014] Invention Effects

[0015] The present invention generates customized pay-off information in the control operation unit and performs pay-off printing based on the customized pay-off information, thus enabling pay-off printing that reflects the operator's ideas. Attached Figure Description

[0016] Figure 1 This is a diagram illustrating the structure of a wire-laying robot system according to an embodiment of the present invention.

[0017] Figure 2 This is a diagram showing the general structure of a wire-laying robot.

[0018] Figure 3 This is an example of image-related information that is installed on a wire-laying robot along with an image of the wire-laying type.

[0019] Figure 4A This is an example of a screen used to customize the layout printing process.

[0020] Figure 4B This is an example of a screen used to customize the layout printing process.

[0021] Figure 4C This is an example of a screen used to customize the layout printing process.

[0022] Figure 5 This is a diagram showing a specific example of the content to be printed.

[0023] Figure 6 This is a flowchart illustrating the process of line printing in an embodiment.

[0024] Figure 7 This is an illustrative diagram illustrating the process of laying out and printing near a wall.

[0025] Figure 8This is a flowchart illustrating the action flow when laying out and printing lines near a wall.

[0026] Figure 9 This is an example of a screen showing the selection of ink dots for workers who want to prioritize laying out lines during the laying-out process.

[0027] Explanation of reference numerals in the attached figures

[0028] 1… Wire laying robot system; 10… Wire laying robot; 11… Main control unit; 12… Printer; 13… Moving body; 14… Actuator; 15… Measurement target; 20… Tracking 3D measuring instrument; 30… Control operation unit. Detailed Implementation

[0029] Hereinafter, the embodiments (examples) will be described in detail using the accompanying drawings. However, this invention should not be construed as being limited to the description of the embodiments below. That is, those skilled in the art will readily understand that the structure can be modified without departing from the technical concept or spirit of the invention. Furthermore, in the structures of the embodiments described below, the same reference numerals are used for the same devices and parts having the same actions or functions, and there are instances where repeated descriptions are omitted. Moreover, the positions, sizes, shapes, and extents of the structures shown in the drawings are for ease of understanding of the invention and do not represent the actual positions, sizes, shapes, and extents of the structures. Furthermore, parts that are not highly relevant to the actions of the invention (e.g., the detailed structure of the moving body of the wire-laying robot, the detailed description of the positioning actions, etc.) are only briefly described.

[0030] First, through Figure 1 and Figure 2 The structure of the wire-laying robot system according to an embodiment of the present invention will be described. Figure 1 This is a diagram showing the structure of a wire-laying robot system as an embodiment of the present invention. Figure 2 This is a diagram showing the general structure of a wire-laying robot.

[0031] like Figure 1 As shown, the wire-laying robot system 1 of this embodiment of the invention comprises a wire-laying robot 10, a tracking-type three-dimensional measuring device 20 for measuring the position of the wire-laying robot, and a control operation unit 30. The control operation unit 30 is capable of transmitting and receiving information with the wire-laying robot 10 and the tracking-type three-dimensional measuring device 20, and generates customized wire-laying information based on the wire-laying information from the wire-laying robot 10, which is then sent to the wire-laying robot 10. The wire-laying robot 10 performs wire-laying printing corresponding to the customized wire-laying information.

[0032] Next, through Figure 2The general structure of the line-laying robot 10 will be described. The line-laying robot 10 is deployed, for example, at construction sites such as buildings or civil engineering sites such as roads, and is a robot that automatically performs line laying and printing. Based on the user's operating instructions, the line-laying robot 10 autonomously moves using the position information from a tracking-type 3D measuring device 20, moves to the designated line-laying point (line-laying and printing position), and performs line laying and printing corresponding to the line-laying information using its own printer.

[0033] exist Figure 2 In this design, the wire-laying robot 10 includes a main control unit 11, which stores information useful for wire-laying and printing, i.e., "wire-laying information," and controls the overall operation of the wire-laying robot 10. Furthermore, the wire-laying robot 10 includes: a printer 12, which performs wire-laying and printing according to the control of the main control unit 11; a moving body 13, which moves the entire wire-laying robot 10; and an actuator 14, mounted on the moving body, used to move the printer 12 in a two-dimensional (XY plane) direction. Additionally, the wire-laying robot 10 includes a measuring target 15, which is mounted on the actuator 14 for measuring the position of a tracking-type three-dimensional measuring instrument 20.

[0034] The main control unit 11 uses information equipment with the functions of a typical computer. Specifically, the main control unit 11 includes: a control program for overall control of the wire-feeding robot 10; a storage unit for storing wire-feeding information and information required for actions; a transceiver unit for transmitting and receiving information with the control operation unit 30; and a processing unit for positioning the wire-feeding robot and printer at the wire-feeding position according to the control program, and driving the printer to perform wire-feeding and printing corresponding to the wire-feeding information. Detailed explanations of the structure and operation of the storage unit, transceiver unit, and processing unit are omitted here.

[0035] The moving body 13 consists of a frame 131, a drive unit 132 for moving the moving body 13 mounted below the frame 131, and tires 133 for moving by the driving force of the drive unit 132. The detailed structure of such a moving body of a wire-laying robot is known (e.g., Patent Document 1), and its detailed description is omitted.

[0036] An actuator 14 is disposed on a movable body 13, with a printer 12 mounted below it. The printer 12 is positioned by being moved to the line-printing position through positioning control performed by the main control unit 11. In this embodiment, the actuator 14 moves the printer 12 in the XY two-dimensional direction and can also move in the Z direction during line-printing to position the printer head in a position suitable for printing onto the line-printing surface (ground, wall, ceiling).

[0037] The positioning of the wire-laying robot 10 with this structure can be achieved by the main control unit 11 moving the wire-laying robot 10 to the wire-laying point based on the wire-laying position (target printing position) contained in the wire-laying information and the measured position of the wire-laying robot 10 from the tracking three-dimensional measuring device 20, and executing positioning control by the actuator 14 to precisely position the printer 12 to the wire-laying point (wire-laying printing position). Detailed description of this positioning control is omitted.

[0038] The tracking-type 3D measuring device 20 in this embodiment is a measuring device that uses laser tracking to measure the position of the measuring target 15 mounted on the wire-laying robot 10, and uses the reflected light from the measuring target to measure the position of the measuring target 15 in three-dimensional space, which is also the position of the wire-laying robot 10. The tracking-type 3D measuring device 20 measures the position of the measuring target 15 while the measuring target 15 is mounted on the wire-laying robot 10, thereby enabling accurate measurement of the position of the wire-laying robot 10. Furthermore, the tracking-type 3D measuring device is not limited to a laser-based structure; any structure can be used as long as it can measure the position of the wire-laying robot. The position of the wire-laying robot 10 measured by the tracking-type 3D measuring device 20 is sent to the main control unit 11 for movement control (positioning) of the wire-laying robot 10 towards the laying position. In addition, instruction information from the control operation unit 30 is also sent to the control operation unit 30 as needed.

[0039] The control operation unit 30 is a terminal that transmits and receives information with the wire-laying robot 10 and the tracking 3D measuring instrument 20, and controls the actions of the wire-laying robot 10 and the tracking 3D measuring instrument 20. Furthermore, in embodiments of the present invention, the control operation unit 30 has the function of editing (customizing) the wire-laying information received from the main control unit 11 based on the wire-laying information, through operator operation at the control operation unit 30 side. Therefore, the control operation unit 30 transmits and receives information with the main control unit 11, enabling the wire-laying information to be shared with the main control unit 11. In addition, the control operation unit 30 has the function of taking in "basic wire-laying information" (basic wire-laying information) and "editable information" (for customization) from the "wire-laying information" and displaying an editing screen for operator operation, as well as an operation function for the operator to select operations using the editing screen.

[0040] As a control operation unit 30 that has the function of displaying information on such a screen and enabling selection operations by the operator, a known tablet computer terminal device with a touch panel integrated with the screen display can be used. Therefore, the following description assumes that the control operation unit 30 of this embodiment uses a known tablet computer terminal device. In addition to using a tablet computer terminal device, the control operation unit 30 can also use a terminal such as a portable personal computer (PC) or a smartphone.

[0041] Next, use Figure 3 The structure of the wire laying information in an embodiment of the present invention will be described.

[0042] First of all, Figure 3 The image shows editable information (information that can be appended to the basic information and printed) downloaded to the wire-feeding robot 10, along with the basic wire-feeding information. This editable information can be recorded in a configuration file such as CSV (Comma-Separated Values) or JSON (JavaScript Object Notation). The wire-feeding information can be downloaded via a storage medium (not shown) that has been inserted into the main control unit 11. Alternatively, the wire-feeding information recorded on the storage medium can be downloaded via wireless communication technology (e.g., "Bluetooth"). Bluetooth is a registered trademark.

[0043] exist Figure 3 In this document, 301, labeled "File Name," is the name of the image file for the type of line laying. 302, labeled "Long Text," is the name displayed when selecting an image file for the type of line laying. 303, labeled "Direction," indicates whether to add arrow editing information to the arrow image of the line laying type. For example, it can be set to 0 (no direction selection), 1 (direction only), and 2 (direction selection available), depending on the type of image laying type. 304, labeled "Input Name," indicates whether to add characters to the image of the line laying type. For example, it can be set to 0 (no appending) and 1 (appending available), depending on the type of image laying type. 305, labeled "Priority," indicates which side is prioritized when characters overlap with lines in the background image (basic line laying image). For example, it can be set to 0 (line priority) and 1 (character priority), allowing selection of the side to be emphasized. The value 306, labeled "Rotation," indicates whether the image orientation is rotated during the laying-out process. For example, the rotation of the image during laying-out can be set to 0 for no rotation and 1 for rotation.

[0044] Next, the method by which the operator edits (customizes) the pay-off information based on the pay-off information (consisting of basic pay-off information and editable information) in the control operation unit 30 will be described. First, the pay-off robot 10 (more specifically, the main control unit 11) downloads the "pay-off information" prepared by an external device (not shown) for performing pay-off printing. In this embodiment, the "pay-off information" includes "basic pay-off information" as a basis and "editable information," which is used by the operator to perform operations on the control operation unit 30 corresponding to the basic pay-off information to add printing information.

[0045] In addition to the methods described above, the download of laying information, including basic laying information and editable information, can also be achieved by downloading laying information stored in external devices such as external cloud systems via communication networks such as the Internet.

[0046] The control operation unit 30 inputs line-laying information containing editable information from the main control unit 11. The operator operates the "editing screen" displayed on the control operation unit 30 for line-laying editing operations to perform editing. In this embodiment, the control operation unit 30 can easily perform editing by using selection operations on the editing screen (selection operations of selection units such as checkboxes). Furthermore, the control operation unit 30 in this embodiment can change (enlarge or reduce) the size of the printed content by operating on the editing screen. Specific examples of the editing screen used in such editing operations and specific editing methods (customization methods) using the editing screen will be described later.

[0047] Furthermore, the control operation unit 30 of this embodiment has the function of appending images captured by a camera as part of editable information. That is, images of annotations (characters, symbols, marks, etc.) that want to be added through customization are captured by the built-in camera and acquired as image information. Moreover, by performing the processing of appending the acquired image information to part of the editable information, it can be made into part of the editable information.

[0048] Here, for ease of understanding, it is assumed that the transmission and reception of wire release information between the main control unit 11 and the control operation unit 30 occurs whenever the customization of each wire release information of the control operation unit 30 is performed. However, the present invention is not limited to this method. Alternatively, at the start of customization, the main control unit 11 may send all or a certain uniform amount of wire release information to the control operation unit 30, and at the time when the customization of this wire release information ends, the control operation unit 30 may send the customized wire release information to the main control unit 11.

[0049] Next, the editing actions (customization method) of the control operation unit 30 will be explained using an example of an editing screen. Figures 4A to 4C The text shows a specific example of the editing screen used to perform this editing task.

[0050] first, Figure 4A Screen 501 shows an image printed with basic layout information, used as an editing screen to add "arrows" to the layout print content. Figure 4A In screen 501, there is an input section 51 for recording the layout information of the object to be edited, a guide display section 52 for urging action, a display section 53 for displaying the basic layout image 54 formed by the basic layout information, a shape overview display section 55, a checkbox 56 for selecting whether to print the additional arrow, a return display 57 for returning to the previous screen, and a decision 58 for deciding to perform editing (in this example, adding the arrow).

[0051] That is, screen 501 is an example of a screen used to select the layout image (background image) as the basis for layout and to edit the printing of the "arrow". The preview position can also display... Figure 3 The image is set in the image file name 301 (FileName) shown. Additionally, the shape overview can display... Figure 3 The statement set in name 302 (Long Text) can display statements that are easy for the operator to understand. See checkbox 56 for direction selection. Figure 3 The arrow editing information 303 (Direction) is shown. Arrow editing information 303 sets the checkbox to be hidden when it is set to 0 (direction cannot be selected), prevents the user from changing the state of checkbox 56 from being checked when it is set to 1 (direction only), and allows the user to add or remove the checkbox 56 when it is set to 2 (direction can be selected).

[0052] then, Figure 4A Screen 502 is an example of an editing screen used to add arrows to the print output. Figure 4A The user transitions to the editing screen after checking checkbox 56 and executing decision 58. In screen 502, checkbox 59 is for selecting the direction of the arrow. The user selects one or more of the directions indicated by checkbox 59: up, down, left, or right. This example shows a checkbox for selecting up, down, left, or right, but other directions such as diagonal directions can also be selected. This selection (checking the checkboxes) determines the direction the arrow will be printed. If the selection is correct, the user executes decision 60.

[0053] Through this operation, the control unit 30 can not only create basic pay-off information, but also create information with an "arrow" added in the direction determined by the operator. That is, it can create customized pay-off information with an arrow added in a specified direction along with the basic pay-off information. This customized pay-off information (in this case, pay-off information with an added arrow) is sent to the main control unit 11. The main control unit can store this customized pay-off information and, according to the customized pay-off information, position the pay-off robot to the specified pay-off position and drive the printer 12 to perform pay-off printing.

[0054] then, Figure 4B This is an example of an editing screen showing annotations such as characters to be printed after the basic layout information is provided. When in... Figure 4B When a name is entered in screen 503 (input 61), the corresponding layout image information is read out, and annotations can be entered in annotation column 62. In this example, the character "socket" is entered as an annotation. Checkbox 63 is used when annotations are also entered on the lower side. This indicates that the character "distance from 0 is ▲▲mm" is entered in the lower annotation column 64 as an annotation to be printed (in this example, an annotation to be printed on the lower side). If only the annotation is entered (printed) on the upper side, the lower annotation column 64 is not used. Furthermore, if checkbox 63, which is used to automatically input the distance from the reference core, is checked, the distance can be automatically calculated based on the drawing data. If the operator determines that the editing content of screen 503 is correct, operation decision 58 is executed. Thus, the control operation unit 30 can create customized layout information by adding the entered annotations to the basic layout information. Customized pay-off information (in this case, pay-off information with annotations) is sent to the main control unit 11 and stored in its internal storage. Thus, the pay-off robot 10 moves to the designated position under the control of the main control unit 11, and then drives the printer 12 to perform the customized pay-off printing at the designated position. Figure 4B Screen 504 represents an example of an editing screen with additional annotations. Since it repeats the content described in screen 503, a detailed explanation of screen 504 is omitted.

[0055] Next, it will be explained how, in the case of customized, annotated line-layout printing where the annotations overlap with the basic line-layout printing, the operator uses the control unit 30 to determine how to proceed with the printing. Figure 4CScreen 505 shows an example of an editing screen in such a situation. In screen 505, the control operation unit 30 determines whether the basic layout printing content and the annotation printing content overlap. If overlap occurs, the screen indicating overlap is displayed in the annotation column 65. Thus, the operator can identify the overlap. Furthermore, the operator operates the editing screen and uses the selection unit 66 to choose whether to print the layout as is (tolerating repetition) or to prioritize the display of the annotation (emphasis). After this selection, operation decision 58 is executed.

[0056] Through this operation, the control unit 30 can generate customized pay-off information that enables pay-off printing in the state desired by the operator. This customized pay-off information is then sent to the main control unit 11. After the pay-off robot 10 moves to the designated position under the control of the main control unit 11, it drives the printer 12 to perform the customized pay-off printing at the designated position.

[0057] exist Figure 5 The image shown is an example of an image created by combining basic layout print content with customized layout print content. Figure 5 Image 601 is an example of basic line-printed content (background image). Image 602 is an image of image 601 with added arrows and annotations (customized image). Image 603 shows an example of basic line-printed content. Image 604 is an image of image 603 with added arrows and annotations (customized image). Image 605 is an example of an L-shaped background image (basic line-printed content), and image 606 shows an image of image 605 with added arrows. Image 607 is an example of a background image with 45mm ink spacing.

[0058] Next, use Figure 6 The steps for creating this customized layout information are explained in detail. Figure 6 This is an example of a flowchart for editing layout information (changing the layout type).

[0059] Figure 6 In step S01, the operator selects the print image change performed by the control operation unit in order to change the type of layout of the drawing data.

[0060] Next, in step S02, select the background image for the layout (the content of the basic layout information). If the operator selects the background image by operating the editing screen, then refer to... Figure 3 The arrow shown is edited with information 303 (Direction) (step S03).

[0061] Next, in steps S03 and S04, if the arrow editing information 303 (Direction) indicates that direction selection is not possible, the process is skipped. If only direction is available or direction selection is possible, the direction assigned to the arrow is selected.

[0062] Next, refer to character editing information 304 (Input Name) (step S05).

[0063] In the next step S06, if the information in character editing information 304 (Input Name) cannot be appended, the processing is skipped. If appending is possible, the character to be appended is entered.

[0064] Additional characters can be freely input, and the distance from the reference core can be calculated based on the drawing data and automatically inserted. Therefore, in step S07, if the input character overlaps with the line of the background image of the image that serves as the basic layout information, the control operation unit 30 confirms whether there is an actual overlap.

[0065] In step S08, if the line overlaps with a character, refer to information 305 (Priority) to select which one to prioritize.

[0066] Information 305 that prioritizes a line will be skipped if the line is prioritized. If the character is prioritized, the line can be removed or the operator's consent can be obtained (step S08).

[0067] Next, in step S09, with the consent of the operator, the control operation unit 30 performs the process of filling the background of the characters with white.

[0068] Then, in step S10, the control operation unit 30 generates customized line-laying information (print image) that combines the characters with the background image.

[0069] If you follow this Figure 6 The flowchart shown can, for example, enable... Figure 5 Image 601 can be edited (changed) like image 602. If the operator requests the main control unit 11 to lay out the line for printing via the control operation unit 30, the line laying robot 10 can lay out the customized image 602 to the specified position.

[0070] As detailed above, according to an embodiment of the present invention, the operator can appropriately edit the editable information according to the editing screen of the control operation unit 30, the control operation unit 30 can generate (customized) wire laying information reflecting its editing results, and the wire laying robot 10 can perform customized wire laying printing at the specified wire laying position based on the customized wire laying information.

[0071] Next, it explains how to change the printing direction of the line layout and print when the line layout and printing position is close to the wall. Figure 7 This diagram illustrates the actions involved in printing lines close to a wall. Figure 8 Indicates in Figure 7 The flowchart shown is an example of a process used to specify the rotation angle for line printing.

[0072] exist Figure 7 In this system, the layout robot 1 can identify the wall 701 based on drawing data such as BIM (Building Information Modelling). For example, when laying out lines in the vicinity of a wall, the layout robot 10 calculates the perpendicular line 703 intersecting the wall perpendicularly based on the drawing data after moving to the layout point. Furthermore, the identification of the area that is a wall can be performed not only based on drawing data but also on analysis using area sensors or camera images.

[0073] Then, the line-laying robot 10 moves the measuring target 15, and the tracking three-dimensional measuring instrument 20 measures the positions of two points. The orientation of the line-laying robot 10 is calculated based on the coordinates. The angle θ is calculated based on the intersection of the calculated perpendicular line 703 and the line 704 of the robot's orientation. During line laying, the line-laying image 705 is rotated by θ using this angle θ to become image 706.

[0074] By sending the wire-laying information, which is thus created as image 706, to the main control unit 11, the wire-laying robot 10 can lay wire in the direction of the arrow pointing towards the wall 701, as shown in image 706.

[0075] exist Figure 8 The middle indicates that it is realized in the Figure 7 The flowchart illustrates the actions described in the document. Figure 8 In step S1, the perpendicular line 703 that intersects the wall 701 perpendicularly is calculated based on the drawing data.

[0076] In the next step S22, the positions of the two points are calculated by the tracking three-dimensional measuring instrument 20, and the orientation of the wire laying robot 10 is calculated based on the coordinates.

[0077] In the next step S23, the angle θ is calculated based on the intersection of the perpendicular line 703 calculated in step S21 and the straight line 704 indicating the robot's orientation calculated in step S22. In step S24, the angle θ is used to generate line-laying information that rotates the line-laying image 705 by θ.

[0078] This action allows for line printing, as shown in image 706, with the arrow pointing towards wall 701.

[0079] Next, through Figure 9 This example illustrates the editing screen for ink dots aimed at businesses that want to prioritize performance. Figure 9 This is an example of an ink dot selection screen for businesses that want to prioritize their installations (such as electrical appliance manufacturers) during cable laying. Screen 901 shows an example where ink dot information for electrical appliance manufacturers is set using filter condition setting 91, and all options are selected using selection button 92. If settings for other businesses can be selected in this way, installations for other businesses can also be prioritized.

[0080] In addition, in screen 901, the case of selecting ink dots for laying out lines is used as an example, but it can also be done in the following way: in the screen immediately preceding the line laying, select the type of ink dot that is preferred, thereby selecting the ink dot that is preferred by the business.

Claims

1. A wire-laying robot system, comprising: The wire-laying robot comprises: a printer for laying out and printing wires; an actuator mounted on the printer for moving the printer; a mobile body carrying the printer and the actuator for moving; and a main control unit for controlling the printer, the actuator, and the mobile body. A tracking-type 3D measuring device measures the position of the aforementioned wire-laying robot and sends the position measurement results to the aforementioned main control unit; and The control operation unit, through communication with the main control unit, instructs the main control unit to perform wire laying processing. The aforementioned wire-laying robot system is characterized by, The aforementioned main control unit has the function of transmitting and receiving information with the aforementioned tracking-type three-dimensional measuring instrument and the aforementioned control operation unit, and stores the layout information consisting of basic layout information and editable information corresponding to the basic layout information. The aforementioned control unit acquires the aforementioned wire laying information, displays an editing screen for the operator to edit the aforementioned editable information, generates customized wire laying information based on the operation results in the editing screen, and sends it to the aforementioned main control unit. The aforementioned main control unit performs the aforementioned layout printing based on the customized layout information. The editable information mentioned above must include at least one of the following: arrows or characters. The control unit determines whether the lines included in the basic line laying information overlap with the characters. If it determines that the lines included in the basic line laying information overlap with the characters, it displays a screen indicating that an overlap has occurred on the editing screen, allowing users to choose whether to prioritize the lines or the characters. When the aforementioned characters are given priority, the control operation unit performs a process of filling the background of the aforementioned characters with white.

2. The wire-laying robot system as described in claim 1, characterized in that, The aforementioned wire laying information stored in the main control unit is downloaded via a storage medium.

3. The wire-laying robot system as described in claim 1, characterized in that, The aforementioned cable laying information is downloaded from an external device storing the cable laying information via a communication line.

4. The wire-laying robot system as described in claim 1, characterized in that, The aforementioned control unit has the function of adding images captured by the built-in camera as part of the editable information.

5. The wire-laying robot system as described in claim 1, characterized in that, It has the function of enlarging or reducing the size of the layout printout based on the above basic layout information.

6. The wire-laying robot system as described in claim 1, characterized in that, It has the function of changing the direction of the line printing towards the wall when printing lines near the wall.

7. The wire-laying robot system as described in claim 1, characterized in that, Generate paths for businesses that want priority for cable deployment, and then deploy the cables accordingly.

8. A control method for a wire-laying robot system, The wire-laying robot system has the following features: A line-laying robot, equipped with a printer on its mobile body, performs line-laying and printing based on the line-laying information. A tracking-type 3D measuring device is used to measure the position of the aforementioned wire-laying robot; and The control unit sends information to control the aforementioned wire-laying robot. The control method of the wire-laying robot system is characterized by, The aforementioned pay-off information is constructed using basic pay-off information and corresponding editable information. An editing screen is displayed on the control unit based on the pay-off information. The control unit generates customized pay-off information based on the operation results of the editing screen. The pay-off robot performs pay-off printing according to the customized pay-off information. The editable information mentioned above must include at least one of the following: arrows or characters. The control unit determines whether the lines included in the basic line laying information overlap with the characters. If it determines that the lines included in the basic line laying information overlap with the characters, it displays a screen indicating that an overlap has occurred on the editing screen, allowing users to choose whether to prioritize the lines or the characters. When the aforementioned characters are given priority, the control operation unit performs a process of filling the background of the aforementioned characters with white.

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