Inking system and inking method

Abstract

To provide an inking system which can efficiently utilize design drawing data of a building, in estimating a position of the inking device.SOLUTION: An inking system estimates a position of an inking device 1 in a construction site of a building B, and executes inking work by the inking device 1. The inking system generates "design drawing data" which includes design information of the building, and information of multiple reference target portions (ink release intersection P) being a design reference of the building. The inking system also generates, by a surveying device 100 installed in the building, "survey data" including the information of the multiple reference target portions (ink release intersection P) existing in the building. Then, on the basis of the information of the multiple reference target portions included in the "design drawing data" and the information of the multiple actual reference target portions included in the "survey data", the inking system estimates the position of the inking device 1 in the building.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a marking system and a marking method, and more particularly to a marking system and a marking method for performing marking work by a marking device within a construction site of a building. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known a marking system that travels within a building construction site and marks reference lines (marking lines) on floors, walls, or the like that indicate reference positions for various construction work within the construction site (see, for example, Patent Documents 1 and 2). The marking systems described in Patent Documents 1 and 2 store design information for a building, and estimate the position of the marking device within the construction site based on the "design information" of the building and the "survey information" of the marking device measured by a surveying device. Then, a marking position is specified based on the design information, and the marking device is moved based on the information on the position of the marking device and the information on the marking position to perform marking work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 4-39709 [Patent Document 2] JP 2017-15523 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in marking systems such as those disclosed in Patent Documents 1 and 2, it has been required to effectively use design drawing data of a building when estimating the position of the marking device within the construction site of the building. For example, the position of the marking device within the building is estimated by matching the coordinate system within the building based on the information of "known points in the design" and the "information of actual known points" measured by a surveying device, and it has been required to efficiently perform marking work by effectively using the design drawing data.

[0005] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a marking system and a marking method that can effectively utilize building design drawing data when estimating the position of a marking device within a building construction site. [Means for solving the problem]

[0006] The above problem is solved by the marking system of the present invention, which is a marking system for estimating the position of a marking device within a construction site of a building and performing marking work using the marking device, wherein the marking system generates design plan data for the building including design information of the building and information on a plurality of reference target parts that serve as design criteria for the building, generates survey data for the building using a surveying device installed within the construction site of the building including information on a plurality of reference target parts present within the construction site of the building, and estimates the position of the marking device within the building based on the information on the plurality of reference target parts included in the design plan data and the actual information on the plurality of reference target parts included in the surveying data. With the above configuration, a marking system can be realized that can effectively utilize design drawing data of a building when estimating the position of a marking device within a construction site of a building. More specifically, the marking system generates "design data" including building design information and information on multiple reference target parts. Then, the position of the marking device is estimated based on the information on the multiple reference target parts included in the "design data" and the information on the actual multiple reference target parts included in the "survey data." In this way, by incorporating information on multiple reference target parts that are the design criteria for a building into the "design drawing data," the information on the reference target parts can be used to estimate the position of the marking device, and can also be used for subsequent construction work. Also, by incorporating information on multiple reference target parts into the "design drawing data," it is possible to use information on any reference target part from among the multiple reference target parts and match it with information on the actual reference target part (it is possible to match the coordinate system between the design coordinates and the survey coordinates).

[0007] In this case, the marking system generates the design drawing data including information on the intersections of multiple relief marks as information on the multiple reference target areas, and generates the surveying data by the surveying device including information on the intersections of multiple relief marks drawn within the construction site of the building as information on the multiple reference target areas, matches a coordinate system within the building based on the information on the intersections of the multiple relief marks contained in the design drawing data and the information on the actual intersections of the multiple relief marks contained in the surveying data, and estimates the position of the marking device within the building based on the position information of the marking device surveyed by the surveying device in the coordinate system. With the above configuration, the position of the marking device can be estimated using the clearance marks (intersections of clearance marks) that have been drawn in advance on the construction site. This makes it unnecessary to set up new known points to match the coordinate system between the design coordinates and the survey coordinates. In addition, by incorporating information on clearance marks (intersections of clearance marks) into the "design drawing data," it is possible to use the design drawing data including clearance mark information in subsequent construction work, in addition to estimating the position of the marking device. It is also possible to distinguish clearance mark lines from other lines in the "design drawing data."

[0008] In this case, the marking system generates the design drawing data including information on all the intersections of the relief marks in a specified space of the building, transmits the design drawing data to the marking device, generates the surveying data including information on at least two of the intersections of the relief marks in the specified space of the building by the surveying device, and transmits the surveying data to the marking device, and the marking device matches a coordinate system within the building based on the information on the at least two intersections of the relief marks included in the surveying data and information on at least two corresponding intersections of the relief marks from among all the intersections of the relief marks included in the design drawing data, and estimates the position of the marking device within the building based on the position information of the marking device surveyed by the surveying device in the coordinate system. As described above, by incorporating information on all clearance marks in a given space into the "design drawing data," even if the surveying device is unable to survey a known point (an arbitrary clearance mark intersection) that was planned to be surveyed within the construction site, it is possible to use an alternative known point (another clearance mark intersection) to survey it. Then, the coordinate system can be matched based on the alternative known points. For example, if materials or the like are placed within the construction site, the surveying device may not be able to survey a known point that was originally planned to be surveyed. Furthermore, by incorporating all clearance marking information into the "design drawing data" as described above, even if marking out work cannot be carried out in one section, preparations can be made for marking out work in other sections, and the marking out work can proceed ahead.

[0009] In this case, the marking system generates the design drawing data including information on reference marks that are the design standard of the building, information on the relief marks, information on the intersections of the multiple relief marks, and information on marking to be newly marked, processes the design drawing data to generate processed design drawing data expressed by character codes including information on the reference marks, information on the relief marks, information on the intersections of the multiple relief marks, and information on the marking, stores the design drawing data in a memory unit, and transmits the processed design drawing data to the marking device. With the above configuration, it is possible to generate "design data" including information on the reference marks of the building, information on the relief marks, information on the intersections of multiple relief marks, and information on the markings to be newly made, and store the data in the storage unit. The "design data" can be used for subsequent construction work. In addition, the "design data" can be processed to generate "processing design data" expressed in character code, and the "processing design data" can be sent to the marking device. This allows the marking device to perform marking work while reducing the data processing load.

[0010] In this case, the marking system comprises the marking device and the surveying device, the marking device is attached to the device main body and further has a detection object that is detected by the surveying device, the surveying device detects the detection object mounted on the marking device and measures position information of the marking device based on the detection results, the marking system estimates the position of the marking device within the construction site, identifies a marking position based on the design drawing data, and runs the marking device to perform marking based on the information on the position of the marking device and the information on the marking position. With the above configuration, the marking system can estimate the position of the marking device within the construction site, identify the marking position based on the "processing design drawing data", and run the marking device to perform marking based on the information on the position of the marking device and the information on the marking position.

[0011] Furthermore, according to the marking method of the present invention, the above problem can also be solved by a marking method for estimating the position of a marking device within a construction site of a building and performing marking work using the marking device, which comprises the steps of: generating design plan data for the building including design information of the building and information on a plurality of reference target parts that serve as design criteria for the building; generating survey data for the building using a surveying device installed within the construction site of the building including information on a plurality of reference target parts present within the construction site of the building; and estimating the position of the marking device within the building based on the information on the plurality of reference target parts included in the design plan data and the actual information on the plurality of reference target parts included in the survey data. Effect of the Invention

[0012] According to the marking device and marking system of the present invention, it is possible to effectively use design drawing data of a building when estimating the position of the marking device within a construction site of a building. In addition, by effectively utilizing design drawing data, construction work, including marking out work, can be carried out efficiently. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a configuration diagram of a marking system according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a diagram illustrating the functions of a marking device, a surveying device, and an operator terminal. [Figure 4] FIG. 13 is a diagram showing the coordinates of the intersections of the actual clearance marks included in the survey data. [Diagram 5] FIG. 13 is a diagram showing the coordinates of intersections of design relief marks included in design drawing data. [Figure 6] FIG. 13 is a diagram for explaining information on a mark to be newly marked. [Figure 7] FIG. 11 is a diagram showing an example of processing design drawing data. [Figure 8] FIG. 2 is a process flow diagram showing the marking method of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. This embodiment relates to a marking system for estimating the position of a marking device within a building construction site and performing marking work using the marking device, and relates to a "marking system" that makes it possible to effectively utilize building design drawing data when estimating the position of the marking device. It also relates to a "marking method" using the marking device.

[0015] As shown in Figure 1, the marking system S of this embodiment is mainly composed of a marking device 1 that travels on the floor in a specified space of building B and performs marking processing of building B, a surveying device 100 that is communicatively connected to the marking device 1 and installed at a specified position within the building and measures the position information of the marking device 1, and an operator terminal 200 that causes the marking device 1 to perform marking work. As shown in Figure 4, the surveying device 100 surveys information (position information) of multiple reference target locations present within the construction site of building B and the position information of the marking device 1 within the building, generates "survey data," and transmits the "survey data" to the marking device 1. As shown in Figure 5, the operator terminal 200 generates "design drawing data" including design information for building B and information on multiple reference target areas that serve as design criteria for building B, and transmits the "design drawing data" to the marking device 1. The surveying device 100 and the operator terminal 200 may be connected to be able to communicate with each other. In that case, the operator terminal 200 may transmit the "design drawing data" and the "survey data" received from the surveying device 100 to the marking device 1.

[0016] "Marking out work" refers to the work of marking reference lines (marking out lines) and reference marks (marking out marks) that indicate the reference positions for various construction work on the floor, wall, or ceiling surfaces at the construction site of Building B. Specifically, there are marking out the foundation, marking out the framework, and marking out the finish. Marking out lines and marking out marks are used for installing the components of Building B and for installing equipment such as air conditioning and electrical equipment.

[0017] <Hardware configuration of the marking system> As shown in Figures 1 and 2, the marking device 1 is a robot that automatically travels within a building and performs marking processing, and can communicate with an operator terminal 200 and read and store the latest programs and data stored in the operator terminal 200. Specifically, the marking device 1 is a small automated guided vehicle (AGV) that performs marking work, and is equipped with an apparatus main body 2, a running unit 10 (running section), a marking unit 20 (marking section), movable units 30, 40, 50 (movable sections), a prism 60, a battery 70, and a control controller 80 (control section).

[0018] The device main body 2 is a main body (casing) of the marking device 1 as shown in FIGS. The device main body 2 is formed by cutting out a part of a rectangular frame, and is composed of a substantially U-shaped frame. Specifically, the device main body 2 has a front frame 2a, a rear frame 2b, and left and right side frames 2c. A recess 2d is formed by cutting out the left side frame 2c at the center in the longitudinal direction. As shown in FIG. 2, movable units 30, 40, 50 are attached inside the device body 2, and the marking unit 20 can be caused to protrude from the inside of the device body 2 to the outside by the movable units.

[0019] The marking device 1 is designed so that the center of gravity is located at the center in the width direction. Specifically, the traveling units 10 are attached to the four corners of the device body 2 so that the center of gravity is located at the center of the device body 2 in a plan view. In addition, the movable units 30, 40, 50 are attached at the center of the device body 2, the marking unit 20 and the prism 60 are attached to the left side of the device body 2, and the battery 70 and the controller 80 are attached to the right side of the device body 2.

[0020] As shown in Figs. 1 and 2, the propulsion unit 10 is a tire-type propulsion unit that propels the device main body 2 in all directions in the horizontal direction (two-dimensional direction). Specifically, the running unit 10 is arranged at each of the four corners of the device main body 2 when viewed from above, and has a number of wheels 10a that rotate to move the device main body 2, wheel axles 10b that form the rotation axis of each wheel 10a and extend in the width direction of the marking device 1, and a drive motor 10c that rotates each wheel 10a and wheel axle 10b. The wheel 10a may be, for example, a Mecanum wheel (registered trademark) or an Omni wheel (registered trademark). The wheel 10a may be a normal wheel. The traveling unit 10 controls the rotation direction and rotation speed of the wheels 10a (wheel axles 10b) by means of the four drive motors 10c, thereby allowing the marking device 1 to travel freely in the horizontal direction without turning.

[0021] As shown in Figures 1 and 2, the marking unit 20 is a marking section that marks marking marks (marking lines) by an inkjet method. For example, the marking unit 20 has an ink cartridge (not shown) and prints marking marks on the floor surface by spraying ink downward. Note that the marking unit 20 may print a specified mark at the marking position (marking point) instead of the marking mark. The marking unit 20 (print head 21) is disposed at a lateral position (left side position) of the device main body 2.

[0022] The marking unit 20 is moved in the front-rear direction relative to the device body 2 by the first movable unit 30, and moved in the left-right direction relative to the device body 2 by the second movable unit 40. In addition, the marking unit 20 is moved in the up-down direction relative to the device body 2 by the third movable unit 50. In particular, the marking unit 20 can move between a "storage position" and a "protruding position" as the second movable unit 40 moves.

[0023] As shown in Figures 2 to 5, the first movable unit 30 is a movable part that moves the marking unit 20, the second movable unit 40, the third movable unit 50 and the prism 60 in the forward and backward directions relative to the device main body 2, and is, for example, a belt-driven electric actuator (linear actuator). The first movable unit 30 is bridged between the front frame 2a and the rear frame 2b of the device main body 2. In the above configuration, by driving the drive motor 31 to move the carrier 32, the marking unit 20, the second movable unit 40, the third movable unit 50 and the prism 60 assembled on the carrier 32 move in the front-rear direction.

[0024] As shown in FIG. 2, the second movable unit 40 is a movable part that moves the marking unit 20, the third movable unit 50, and the prism 60 in the left-right direction relative to the first movable unit 30, and is, for example, a belt-driven electric actuator. The second movable unit 40 includes a fixed rail 41 fixed on the carrier 32 and extending in the left-right direction, a movable rail 42 supported slidably along the fixed rail 41 and moving left-right together with the marking unit 20, and a second drive motor 43. In the above configuration, by driving the second drive motor 43 to move the movable rail 42, the marking unit 20, the third movable unit 50, and the prism 60 attached to the tip of the movable rail 42 move in the left-right direction.

[0025] As shown in FIG. 2, the third movable unit 50 is a movable part that moves the marking unit 20 and the prism 60 in the up-down direction relative to the second movable unit 40, and is, for example, a belt-driven electric actuator. The third movable unit 50 is disposed outside the first movable unit 30 and the second movable unit 40 in the left-right direction, and is attached to one end of the second movable unit 40 in a cantilever structure. The third movable unit 50 comprises a bracket 51 fixed to one end of the movable rail 42, a fixed rail 52 fixed to the bracket 51 and extending in the vertical direction, a carrier 53 supported slidably along the fixed rail 52 and moving up and down together with the marking unit 20, and a third drive motor 54. In the above configuration, by driving the third drive motor 54 to move the carrier 53, the marking unit 20 and the prism 60 fixed to the carrier 53 move up and down.

[0026] As shown in FIG. 2, the prism 60 is a reflecting prism that serves as a detection object of the surveying instrument 100, and is disposed on the left side of the instrument main body 2. Specifically, the prism 60 is disposed at the left end of the second movable unit 40 and attached to the upper end of the carrier 53 . The prism 60 is disposed above the device main body 2, the traveling unit 10, the marking unit 20, the movable units 30, 40, 50, the battery 70, and the controller 80. Therefore, the surveying instrument 100 can detect the prism 60 regardless of the orientation of the marking device 1.

[0027] As shown in Figs. 1 and 2, the battery 70 is a plate-shaped storage battery that is electrically connected to the traveling unit 10, the marking unit 20, the movable units 30, 40, 50, and the controller 80 and supplies power to these components. The battery 70 is attached to the upper surface of the device body 2 at a corner (front corner).

[0028] As shown in Figures 1 and 2, the control controller 80 is a computer having a CPU (processor) for data calculation and control processing, a ROM, RAM, and HDD (SSD) as memory devices, and a communication interface for sending and receiving information data via a network. The controller 80 is housed in a three-dimensional control module (control box), and is attached to a corner (rear corner) of the device main body 2.

[0029] The control controller 80 controls the operation of each of the traveling unit 10, the marking unit 20, and the movable units 30, 40, and 50 by transmitting (wirelessly or wired) control signals generated by the CPU (processor) to the traveling unit 10, the marking unit 20, and the movable units 30, 40, and 50 via a communication interface. In other words, the ROM, RAM, and HDD of the control controller 80 store, in addition to a main program that performs the necessary functions of a computer, a marking program, as shown in Figure 3, and the functions of the marking device 1 are performed by executing these programs by the CPU (processor).

[0030] In the above configuration, the marking device 1 travels in all horizontal directions by the traveling unit 10 while performing marking by the marking unit 20, thereby marking marking marks at predetermined marking positions.

[0031] As shown in Figs. 1 and 4, the surveying instrument 100 is an automatic tracking total station that detects a prism 60 mounted on a marking device 1 at a surveying position and measures the position information of the marking device 1 based on the detection results. The surveying instrument 100 comprises an apparatus main body 101 which measures the distance and direction to the prism 60 by emitting laser light while continuously changing the irradiation direction and receiving reflected light from the prism 60, and a control controller 102 which is attached inside the apparatus main body 101. The controller 102 is a computer equipped with a CPU (processor), a storage device, and a communication interface.

[0032] As shown in Fig. 4, the surveying device 100 measures the position information of the marking device 1 within the building B, and also measures the information of a plurality of reference target parts present within the building B, and generates "survey data". Then, the surveying device 100 transmits the "survey data" to the marking device 1. The "reference target portion" refers to a number of relief mark intersections that have been drawn in advance within the construction site. Figure 4 shows the pillar B1, the reference mark, the relief mark, and the relief mark intersection P. The "reference mark" is also called the center line, and is a reference line that passes through the center lines of the columns B1 (it may be a reference line that passes through the center lines of the walls). Note that since the reference mark passes through the center of the column B1, it is difficult to align the coordinate system using the reference mark (intersection of the reference mark) during marking work. The "relief mark" is also called the "reliable mark" and is a mark (construction mark) drawn in place of the standard mark when the pillar B1 (wall) is being erected. The relief mark is drawn parallel to the standard mark at a position about 50 to 100 cm away from the standard mark. "Relief mark intersection P" is the point where the relief marks intersect with each other. Four relief mark intersection points P are formed around one pillar B1.

[0033] In this embodiment, the surveying instrument 100 measures the position information of two clearance mark intersections P1 and P2 in a specific space of building B. Specifically, clearance mark intersection P1 is the intersection of clearance mark X1B and clearance mark Y1A on pillar B1a. Clearance mark intersection P2 is the intersection of clearance mark X1B and clearance mark Y2B on pillar B1b. The surveying instrument 100 may measure the position information of three or more clearance mark intersection points P. The surveying device 100 can measure the relative position information (position and orientation) of the marking device 1 by measuring the position information of at least two clearance mark intersection points P within the construction site of building B. In other words, the surveying device 100 can obtain the position information of the marking device 1 in the survey coordinates (actual coordinates).

[0034] The surveying device 100 generates “surveying data” including position information of multiple clearance mark intersections P within the construction site of building B and relative position information of the marking device 1, and transmits the “surveying data” to the marking device 1.

[0035] As shown in FIGS. 1 and 5, the operator terminal 200 is operated by an operator and is a computer equipped with a CPU (processor), a storage device, and a communication interface. The operator terminal 200 may be operated inside the building B or outside the building B.

[0036] The operator terminal 200 generates “design drawing data” including “design information” of building B and “information on multiple relief mark intersection points P” that serve as the design criteria for building B, as shown in FIG. 5, and stores the “design drawing data” in the memory unit 210. "Blueprint data" is data including information about a blueprint of a two-dimensional shape of a building, for example, CAD data of a building. The information on the design drawing shows a drawing of a specific room in a building at a specific construction stage, and the design drawing also includes information on the position of markings for ink out. It should be noted that while the "blueprint data" is intended to be blueprint data showing the two-dimensional shape of a building, it may also be blueprint data showing a three-dimensional shape, or BIM (Building Information Modeling) data for a building.

[0037] The "design drawing data" associates information about a building, information about rooms in the building, and information about the construction stage of the rooms. Specifically, the "design drawing data" includes at least information on the building's reference marks, information on relief marks, information on the intersections of multiple relief marks, and information on new markings, as shown in Figures 5 and 6. Fig. 6 is a diagram for explaining information on a new marking. Fig. 6 shows information on a "marking mark B4" that indicates the construction positions (reference construction positions) of a plurality of partition walls B2. The marking device 1 can construct the partition walls B2 inside the building B by drawing the new marking mark B4. The marking device 1 may also draw the marking marks B4 and the marking lines B3.

[0038] The operator terminal 200 stores the "design drawing data", processes the "design drawing data", and generates "processing design drawing data" expressed in character code (text format) including information on reference marks, information on relief marks, information on intersections of a plurality of relief marks, and information on marking (marking marks).Then, the operator terminal 200 transmits the "processing design drawing data" to the marking device 1. Fig. 7 is a diagram showing an example of "processing design drawing data". Specifically, the processing design drawing data includes, in order, (1) the nickname of the "reference mark" (e.g., X1, Y1 shown in Fig. 4), character codes of the start and end point coordinates, (2) the nickname of the "relief mark" (e.g., X1A, Y1A), character codes of the start and end point coordinates, (3) the nicknames of all the "relief mark intersections" (e.g., P1, P2), character codes of the coordinates, (4) the type of "marking mark" (e.g., see Fig. 6), character codes of the coordinates, size, angle, etc.

[0039] In the above configuration, the marking device 1 acquires “survey data” from the surveying device 100 and acquires “processing design drawing data” from the operator terminal 200. The marking device 1 then matches the coordinate system within the building based on the information on the design clearance mark intersections contained in the "processing design drawing data" and the information on the survey clearance mark intersections contained in the "survey data". Then, in that coordinate system, the position of the marking device 1 within the building is estimated based on the position information of the marking device 1 measured by the surveying device 100. Then, the marking device 1 identifies the marking position based on the "processing design drawing data", and travels autonomously based on the position information of the marking device 1 and the marking position information, and marks the marking mark.

[0040] <Functions of the Marking System> As shown in Figure 3, from a functional perspective, the marking device 1 (controller 80) is mainly composed of a memory unit 81 that reads and temporarily stores various programs and data from the operator terminal 200 in addition to "design drawing data (processing design drawing data)" and "travel route data", a communication unit 82 that communicates with the surveying device 100 and the operator terminal 200, a position information acquisition unit 83 that acquires information on the current position within the building, and a marking control unit 84 that drives the device along a predetermined travel route within the building and executes the marking process. These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs. In other words, the controller 80 (control unit) executes the functions of the storage unit 81, the communication unit 82, the position information acquisition unit 83, and the marking control unit 84.

[0041] The "travel route data" stored in the memory unit 81 is data indicating a travel route for performing marking work within a room of a building. The "travel route data" is created, for example, for each room of a building and for each construction stage. Depending on the content of the marking work (for example, marking work that does not require complicated driving), it may not be necessary to generate "driving route data."

[0042] The surveying device 100 has as its main components a memory unit 110 that stores various programs and various data, a communication unit 111 that transmits and receives various data with the marking device 1, and a survey execution unit 112 that executes surveying while installed at the survey location. These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0043] The operator terminal 200 has as its main components a memory unit 210 that holds and stores various programs and various information data, a communication unit 211 that transmits and receives various data between the marking device 1, and a design drawing generation unit 212 that generates "design drawing data" and "processing design drawing data" based on user input. The storage unit 210 stores "design drawing data" and "processing design drawing data." These are composed of a CPU, ROM, RAM, HDD, communication interface, and various programs.

[0044] <<Estimation of the current position of the marking device>> The marking system S estimates the current position of the marking device 1 as follows. First, the operator terminal 200 (design drawing generating unit 212) generates "design drawing data" and processes the "design drawing data" to generate "processed design drawing data" expressed in character code (text format). Then, the communication unit 211 stores the "design drawing data" in the storage unit 210 and transmits the "processed design drawing data" to the marking device 1. As shown in FIG. 7, the "processing design drawing data" includes information on reference marks, information on relief marks, information on all relief mark intersection points P, and information on marking (marking marks).

[0045] The surveying device 100 (survey execution unit 112) surveys information on at least two clearance mark intersection points P that exist within the building B and the relative position information of the marking device 1, and generates "survey data." Then, the communication unit 111 transmits the "survey data" to the marking device 1. As shown in FIG. 4, the "survey data" includes information on the two clearance mark intersection points P and the relative position information of the marking device.

[0046] When the marking device 1 (communication unit 82) receives the above-mentioned "processing design drawing data" and "survey data", the position information acquisition unit 83 estimates information on the current position of the marking device 1 within the building. The position information acquisition unit 83 may also be called a position information estimation unit.

[0047] The location information acquisition unit 83 aligns the coordinate system within the building based on information on two clearance mark intersections P1, P2 contained in the "survey data" and information on two corresponding clearance mark intersections P1, P2 from among all clearance mark intersections P contained in the "processing design drawing data." In other words, the position information acquisition unit 83 performs processing to align the coordinate systems of the survey coordinates and the design coordinates based on information on the survey (actual) clearance mark intersection P and information on the design clearance mark intersection P. Then, the position information acquisition unit 83 performs processing to estimate the position of the marking device 1 within the building based on the position information (relative position information) of the marking device 1 measured by the surveying device 100 in the above coordinate system.

[0048] The "position information" of the marking device 1 is two-dimensional position information, and is specified by the position coordinates (X, Y) when the center position of a specific pillar B1 is set as the origin position (X0, Y0), for example. The "position information" may be three-dimensional position information specified by the position coordinates (X, Y, Z).

[0049] <<Performing marking work>> The marking system S executes marking operations as follows. The marking device 1 (marking control unit 84) specifies the marking position of the marking (marking mark) based on the "machining design drawing data". Then, based on the information on the current position of the marking device 1 and the information on the specified marking position, it determines the travel route of the marking device 1 and generates "travel route data". Then, the marking control unit 84 determines the "marking start position" and "marking start orientation" of the marking device 1 based on the "travel route data", and moves the marking device 1 to the determined "marking start position".

[0050] When the marking device 1 reaches the "marking start position", the marking control unit 84 causes the marking device 1 to travel along the determined travel route, controls the position and angle of the marking unit 20 to be moved, and causes the marking mark to be marked at the marking position on the floor. As a result of the above, the marking system S can execute marking work.

[0051] In this embodiment, the marking device 1 estimates its own position information. However, the operator terminal 200 may estimate the position information of the marking device 1 instead of the marking device 1. In that case, the operator terminal 200 may perform data communication with the surveying device 100 and transmit “processing design drawing data”, “survey data”, and “travel route data” to the marking device 1.

[0052] Further, in this embodiment, the marking device 1 controls the marking work, but the operator terminal 200 may control the marking work of the marking device 1 instead of the marking device 1. That is, the operator terminal 200 may include a “marking control unit” as a component and control the overall operation of the marking device 1. In that case, it is preferable that the operator terminal 200 performs data communication with the marking device 1 in real time and remotely controls the operation of the marking device 1.

[0053] In addition, in this embodiment, the marking device 1 automatically travels from a specified point to the marking start position, but an operator may carry the marking device 1 to the marking start point and set it at the marking start point.

[0054] <How to mark out> Next, the process of the marking method (marking program) executed by the marking system S will be described with reference to FIG. The program according to this embodiment is executed upon receiving an operational instruction from an operator.

[0055] The processing flow of the "marking method" shown in Figure 8 begins with step 1 (S1) in which the operator terminal 200 (design drawing generation unit 212) generates "design drawing data" and processes the "design drawing data" to generate "processed design drawing data." The communication unit 211 transmits the “processing design drawing data” to the marking device 1.

[0056] In step 2, the surveying device 100 (survey execution unit 112) generates “survey data.” The communication unit 111 transmits the “survey data” to the marking device 1.

[0057] In step 3, the marking device 1 (position information acquisition unit 83) aligns the coordinate system within the building based on the information on the two clearance mark intersections P1, P2 contained in the "survey data" and the information on the two corresponding clearance mark intersections P1, P2 from among all the clearance mark intersections P contained in the "processing design drawing data." That is, the position information acquisition unit 83 performs a process of matching the coordinate system of the survey coordinates with the coordinate system of the design coordinates. Then, in step 4, the position information acquisition unit 83 estimates the position of the marking device 1 within the building based on the position information (relative position information) of the marking device 1 measured by the surveying instrument 100 in the above coordinate system.

[0058] In step 5, the marking control unit 84 specifies the marking positions of the marking (marking marks) based on the "processing design drawing data." Then, in step S6, the marking control unit 84 determines a travel route. Specifically, the marking control unit 84 determines the travel route of the marking device 1 based on information on the current position of the marking device 1 and information on the identified marking position, and generates "travel route data."

[0059] In step 7, the marking control unit 84 determines the "marking start position" and "marking start orientation" of the marking device 1 based on the "travel route data." Then, it moves the marking device 1 to the determined "marking start position."

[0060] Then, in step 8, the marking control unit 84 executes the marking work. Specifically, the marking control unit 84 causes the marking device 1 to travel from the determined "marking start position" along the determined "travel route" and mark a marking mark at the marking position on the floor surface of the building.

[0061] After going through the above steps, the process of FIG. 8 is completed. By the above-described process flow of the marking program, the marking device 1 can estimate its own position and mark marking marks along the travel route.

[0062] With the above-described marking system S and marking method, it becomes possible to effectively use the "design drawing data" of a building when estimating the position of the marking device 1 within a construction site of a building. In addition, by effectively utilizing the "design drawing data," it will be possible to efficiently carry out marking out work as well as subsequent construction work.

[0063] <Other embodiments> In the above embodiment, the marking device 1 receives the “processing design drawing data” from the operator terminal 200, but this is not particularly limited, and the marking device 1 may receive the “design drawing data” itself from the operator terminal 200.

[0064] In the above embodiment, the operator terminal 200 generates "design drawing data" including information on all clearance mark intersections in a specified space of the building B, but this is not particularly limited. The "design drawing data" does not need to include information on all of the relief mark intersections, but it is sufficient that the data includes information on two or more, preferably three or more, and more preferably four or more of the relief mark intersections.

[0065] In the above embodiment, as shown in FIG. 1, the marking device 1 performs marking work, but it may be applied to construction processing other than marking work. In other words, the marking device may be used as a construction processing device that travels in all directions horizontally to perform a predetermined construction processing. Examples of "construction processing" include "spraying work" in which a fireproof coating material is sprayed onto the structure (pillars and beams) of a building, and "floor level measurement work" in which the floor level is measured.

[0066] In the above embodiment, a marking program is stored in a recording medium readable by the marking device 1 (operator terminal 200), and the marking device 1 (operator terminal 200) reads and executes the program to execute processing. Here, the recording medium readable by the marking device 1 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. In addition, a dedicated web application may be started using the marking device 1 and the operator terminal 200, and the marking program may be executed on a web browser.

[0067] In the above embodiment, the marking system and the marking method according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and the present invention naturally includes equivalents thereof. [Explanation of symbols]

[0068] S Marking System 1 Marking device 2. Device main body 2a Front Frame 2b Rear frame 2c Side frame 2d Relief 10. Running unit (running part) 10a wheels (front wheels, side wheels) 10b Wheel axle 10c Drive motor 20 Marking unit (marking part) 21 Print Head 30 First movable unit (movable part) 31 Drive motor 32 Career 40 Second movable unit (movable part) 41 Fixed rail 42 Movable rail 43 Second drive motor 50 Third movable unit (movable part) 51 Bracket 52 Fixed rail 53 Career 54 3rd drive motor 60 Prism (detection target) 70 Battery 80 Controller (control unit) 81 Storage section 82 Communications Department 83 Location information acquisition unit 84 Marking control unit 100 Surveying equipment 101 Device body 102 Controller 110 Storage section 111 Communications Department 112 Survey Execution Department 200 Operator terminal 210 Storage section 211 Communications Department 212 Design Drawing Generation Department B Building B1 (B1a, B1b) Pillars B2 Partition wall B3 Marking line B4 ink mark X1, X2, Y1 Standard black X1A, X1B, Y1A, Y1B, Y2B Relief mark P(P1, P2) Relief ink intersection point

Claims

1. A marking system for estimating a position of a marking device within a construction site of a building and performing marking work by the marking device, The marking system includes: generating design drawing data of the building including design information of the building and information on a plurality of reference target parts that are design criteria for the building; generating survey data of the building including information on a plurality of reference target portions present within the construction site of the building by a surveying device installed within the construction site of the building; A marking system characterized by estimating the position of the marking device within the building based on information on the multiple reference target parts contained in the design drawing data and information on the actual multiple reference target parts contained in the survey data.

2. The marking system includes: The design drawing data is generated including information on the intersections of a plurality of relief marks as information on the plurality of reference target portions; generating the survey data including information on the intersections of a plurality of relief marks drawn within the construction site of the building as information on the plurality of reference target portions by the surveying device; A coordinate system within the building is aligned based on information on the intersection points of the plurality of relief marks included in the design drawing data and information on the actual intersection points of the plurality of relief marks included in the survey data; 2. The marking system according to claim 1, wherein the position of the marking device within the building is estimated based on position information of the marking device measured by the surveying device in the coordinate system.

3. The marking system includes: Generate the design drawing data including information on the intersections of all clearance marks in a predetermined space of the building, and transmit the design drawing data to the marking device; Generate the survey data including information on the intersection of at least two relief marks in a predetermined space of the building by the surveying device, and transmit the survey data to the marking device; The marking device is A coordinate system within the building is aligned based on information on the intersection points of the at least two relief marks included in the survey data and information on the intersection points of at least two corresponding relief marks among all the intersection points of the relief marks included in the design drawing data; 3. The marking system according to claim 2, wherein a position of the marking device within the building is estimated based on position information of the marking device measured by the surveying device in the coordinate system.

4. The marking system includes: Generate the design drawing data including information on reference marks that are the design criteria for the building, information on the relief marks, information on the intersections of the plurality of relief marks, and information on markings to be newly marked; The design drawing data is processed to generate processing design drawing data including the reference mark information, the relief mark information, the intersection information of the plurality of relief marks, and the marking information, and expressed by character codes; 4. The marking system according to claim 1, wherein the design drawing data is stored in a storage unit, and the processing design drawing data is transmitted to the marking device.

5. The marking device and the surveying device are provided, The marking device further includes a detection object attached to a device main body and detected by the surveying device, The surveying device detects the detection object mounted on the marking device, and measures position information of the marking device based on the detection result; The marking system includes: Estimating a position of the marking device within the construction site; Identifying a marking position for marking out based on the design drawing data; The marking system according to any one of claims 1 to 3, characterized in that the marking device is moved and marking is performed based on information on a position of the marking device and information on the marking position.

6. A marking method for estimating a position of a marking device within a construction site of a building and performing marking work by the marking device, comprising: generating design data of the building including design information of the building and information on a plurality of reference target parts that are design standards of the building; generating survey data of the building including information on a plurality of reference target portions present within the construction site of the building by a surveying device installed within the construction site of the building; A marking method characterized by carrying out an estimation of the position of the marking device within the building based on information on the plurality of reference target portions contained in the design drawing data and information on the plurality of actual reference target portions contained in the survey data.

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