Smart Drill Robot Multi-Point Drilling Control Method

Abstract

The present invention relates to a smart drill robot and a multi-point drilling control method using the same, and more specifically, to a smart drill robot, a robot system, and a control method thereof that can perform drilling at an accurate position despite errors. According to an embodiment of the present invention, there is provided a drill robot equipped with a drill for drilling and performing drilling in a real space; and a terminal that converts the drilling point coordinates in the design coordinate system into the drilling point coordinates in the drill robot coordinate system and provides them to the drill robot, and corrects an error value between the drilling point coordinates manually set by the user in the real space (drilling point manual coordinates) corresponding to a specific drilling point and the drilling point coordinates (drilling point calculation coordinates) at which the drill robot drills in the real space corresponding to the specific drilling point. The drill robot is characterized by drilling the specific drilling point based on the drilling point manual coordinates, and a smart drill robot system can be provided.

Description

Technical Field

[0001] The present invention relates to a smart drill robot and a multi-point drilling control method using the same, and more specifically, to a smart drill robot, a robot system, and a control method capable of performing drilling at an accurate position despite errors.

Background Art

[0002] Generally, many drilling points are formed on the ceiling of a building. Support for various ceiling structures such as water pipes, fire pipes, sprinklers, or air conditioning equipment such as air conditioners is required. The ceiling structure is supported on the ceiling through anchor bolts, and thus it can be said that drilling the ceiling for the installation of anchor bolts is essential.

[0003] Of course, the number and position of drilling points on the ceiling surface may vary depending on the use of the building. Naturally, the more drilling points there are, the more difficult the drilling becomes, and the longer the time required for the drilling operation has to be.

[0004] In the case of a small building, it is common for an operator to manually perform a drilling operation on the ceiling surface using a drill. At this time, the operator has a lot of trouble in frequently moving the position of the ladder or the support base depending on the drilling position. Of course, since the working posture is inconvenient, it can be said that the operation of manually drilling the ceiling is a very difficult operation.

[0005] In the case of relatively large buildings, the area where perforation must be carried out increases, and thus the number of perforation points also increases. When the ceiling height is high, an elevated work platform will be used. However, not only does the direct perforation work require a lot of time, but also a lot of time is required for the elevation and descent of the elevated work platform. This is because in order to perform perforation work at a specific position and then at another position, the elevated work platform must be moved. At this time, for safety reasons, the elevated work platform must be lowered before moving. Also, this is because the elevated work platform must be raised to the working height again after it has been moved. Therefore, it can be said that performing a large amount of perforation work, especially manually in a working environment with a high ceiling height, is very disadvantageous in terms of efficiency.

[0006] When performing a large amount of perforation work, not only efficiency but also accuracy is very important. In other words, perforation must be accurately carried out at the designed position. Here, when the ceiling surface is flat, the perforation points must be formed at accurate positions in the planar coordinates. Otherwise, many difficulties will inevitably occur in the work of forming the ceiling structure.

[0007] When an operator directly uses a drill to perform perforation, the display of the perforation position can also be carried out manually. That is, it is common to refer to the design drawing to display each perforation position one by one and then perform perforation through the drill.

[0008] Therefore, the work of displaying the perforation position is not easy and the accuracy must inevitably be low. Eventually, the accuracy of perforation becomes low, and the probability of unworked perforation points occurring after the perforation work is bound to be high. When the unworked perforation points are subsequently confirmed, the only option is to perform the perforation work again, resulting in a significantly low work efficiency.

[0009] That is to say, a very large number of problems will occur, such as the working environment, the safety of the operator, the quality like the perpendicularity of the perforated part, productivity, and work convenience.

[0010] To solve such problems, KR10-2217247 (hereinafter referred to as the "prior patent") has provided a smart drill robot that automatically drills based on the designed coordinates of the drilling points using a drill robot.

[0011] According to the prior patent, the conversion of the designed coordinate system, the actual coordinate system, and the robot coordinate system is performed using a total station and a terminal, and the drill robot will automatically perform drilling in the real space.

[0012] However, there is a problem that an error occurs between the position of the drilling point accurately reflecting the designed coordinate system and the position of the drilling point actually drilled by the drill robot in the automatic drilling according to the prior patent. That is, there is a problem that an error occurs between the drilling position on the drawing and the actual drilling position. The causes of such errors can be various, such as errors in the total station, the drill robot arm, or construction errors.

[0013] When drilling a ceiling for the installation of anchor bolts in a general building, an error of around 50 mm in diameter will not cause much difficulty in the subsequent process. This is because relatively small and light supports are supported through the anchor bolts, and if necessary, the brackets supporting the supports can be deformed by a certain amount on-site.

[0014] However, the drilling error for fixing MEP facilities such as large factories and buildings to walls and columns needs to be very small. In particular, MEP facilities in semiconductor factories and long tunnels are manufactured in block units or rack modules with various pipes installed in the factory, and the block units or rack modules are assembled and installed on-site. Therefore, in this case, the drilling error for the installation of MEP facilities must be very small, but it is not easy to meet the precision required in the case of automatic drilling as in the prior patent.

[0015] In addition, the appearance of drilling in advanced industrial facilities such as semiconductor factories or facilities with a very long length such as tunnels can be shown very repeatedly. That is, the wall bodies will be regularly partitioned or columns will be installed. In particular, when MEP facilities are installed on the columns, drilling points can be formed at the same positions and in the same numbers based on the columns.

[0016] However, in such a working environment, the distance between the drill robot and the total station has to become longer as the work progresses. This is because it is very cumbersome to frequently move the position of the total station. Therefore, in such a working environment, the amount of error generated due to the position of the total station can gradually become larger.

[0017] Therefore, it is necessary to explore a solution that can easily perform drilling while reducing the drilling error.

Summary of the Invention

Problems to be Solved by the Invention

[0018] An object of the present invention is to solve the problems of conventional manual drilling and automatic drilling using a drill robot.

[0019] Through one embodiment of the present invention, it is intended to provide a smart drill robot, a drill robot system, and a control method thereof, in which a user can accurately manually set a drilling point and use this to perform precise automatic drilling.

[0020] Through one embodiment of the present invention, it is intended to provide a smart drill robot, a drill robot system, and a control method thereof, in which a user can easily manually set a drilling point and can easily correct the drilling error value.

[0021] Through one embodiment of the present invention, it is intended to provide a smart drill robot, a drill robot system, and a control method thereof, which are convenient to use by minimizing the position change of the total station in a very large-scale and long working environment.

[0022] Through one embodiment of the present invention, a perforable smart drill robot, a drill robot system, and a control method thereof are provided that can minimize errors by setting and recognizing manual perforation points using direct teaching or vision.

[0023] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof are provided that allow a user to easily select an automatic perforation mode and a manual perforation mode according to the working environment.

[0024] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof are provided that can minimize errors and continuously perforate a plurality of perforation points by setting and recognizing perforation point manual coordinates only with respect to a reference point among the plurality of perforation points in the manual perforation mode.

[0025] Through one embodiment of the present invention, in a work site where a perforation pattern having a constant relative position among a large number of perforation points is repeated and the pattern is repeated, a smart drill robot, a drill robot system, and a control method thereof are provided that enable precise perforation and allow an operator to intuitively perform an operation of a perforation command through an external terminal.

Means for Solving the Problems

[0026] In order to achieve the above-described object, according to one embodiment of the present invention, there is provided a drill robot equipped with a drill for perforation and performing perforation in a real space; and converting perforation point coordinates in a design coordinate system into perforation point coordinates in a drill robot coordinate system and remotely providing them to the drill robot, and correcting an error value between perforation point manual coordinates (perforation point manual coordinates) manually set by a user in a real space corresponding to a specific perforation point and perforation point coordinates (perforation point calculation coordinates) at which the drill robot perforates in a real space corresponding to the specific perforation point. An external terminal, wherein the drill robot perforates the specific perforation point based on the perforation point manual coordinates, and a smart drill robot system can be provided.

[0027] The specific drilling points have coordinates in the design coordinate system. The terminal can convert the coordinates of the specific drilling points in the design coordinate system into coordinates in the drill robot coordinate system and provide them to the drill robot. That is, the calculated drilling point coordinates can be calculated by the terminal and provided to the drill robot.

[0028] When the manual drilling point coordinates corresponding to the specific drilling points are set by the user, the terminal can control the drill robot to drill the specific drilling points based on the manual drilling point coordinates instead of the calculated drilling point coordinates.

[0029] An error may occur between the calculated drilling point coordinates and the actual drilling point coordinates. The error can have, for example, an x-axis error value, a y-axis error value, and a z-axis error value. Correcting the error value may mean making the error value zero or the error value being removed. That is, correction values for making the x-axis error value, the y-axis error value, and the z-axis error value zero respectively can be calculated. Calculation of such correction values can be performed by the terminal.

[0030] The terminal is provided to display a map having the space where drilling is to be performed and the positions of the drilling points, and it is preferable to display the completion of drilling on the map after the completion of drilling of the specific drilling points.

[0031] As an example, a plurality of drilling points to be drilled may be displayed on the map displayed by the terminal. The plurality of drilling points can be classified into completed drilling points and uncompleted drilling points, and such classification can be made by being displayed visually differently. Also, the drilling points being drilled can be visually distinguished and displayed differently from other drilling points.

[0032] The terminal preferably provides a manual punching mode and is configured to punch the specific punching point based on the manual punching point coordinates in the manual punching mode. That is, in the manual punching mode, the drill robot can punch the specific punching point based on the manual punching point coordinates instead of the calculated punching point coordinates for the specific punching point.

[0033] The terminal preferably provides an automatic punching mode and is configured to punch the specific punching point based on the calculated punching point coordinates in the automatic punching mode.

[0034] In the manual punching mode, the number of one punching point or multiple punching points can be selected. That is, the user can select or input the number of punching points to be punched in the manual punching mode through the terminal.

[0035] In the manual punching mode, the manual punching point coordinates can be set by the user manually moving the drill robot to directly teach the drill tip to the actual punching point.

[0036] After the number of multiple punching points is selected in the manual punching mode, the manual punching point coordinates can be set by direct teaching with respect to a reference point among the multiple punching points.

[0037] After the direct teaching, it is preferable that the drill robot punches the reference point after performing perpendicularity adjustment driving.

[0038] The coordinates of the punching points other than the reference point among the multiple punching points can be input in relative coordinates with the reference point as zero through the terminal. When the punching points form the corners of a rectangle, the remaining three coordinates can also be easily input by inputting the width and height of the rectangle. When the punching points form an isosceles triangle, the remaining three coordinates can also be easily input by inputting the length of the base and the height.

[0039] Among the plurality of perforation points, excluding the reference point, the perforation points are preferably perforated by correcting the error value between the manual perforation point coordinates and the calculated perforation point coordinates. That is, it is preferable to correct the calculated perforation point coordinates so that the error value becomes 0 for the remaining perforation points using the correction value calculated at the time of reference point perforation, and then perforate.

[0040] The manual perforation point coordinates are preferably set by the user displaying cross marks at the actual perforation points. That is, the intersection points can be displayed as the points where perforation must actually be performed.

[0041] According to an embodiment of the present invention, the manual perforation point coordinates may be set by directly teaching the drill tip of the drill robot to the cross marks.

[0042] According to another embodiment of the present invention, vision for recognizing the cross marks may be provided. In this embodiment, the cross marks themselves may be the setting of the manual perforation point coordinates.

[0043] The vision is preferably a camera capable of taking images. Such images are provided to the user in various ways, and the user can recognize the error value through the vision and recognize the completion of error value correction. Also, the vision preferably can sense the distance from the wall surface. This is because it is preferable that the shooting and error correction through the vision are performed with the vision separated from the wall surface by a preset distance.

[0044] After the drill robot moves to the vision coordinates corresponding to the calculated perforation point coordinates, it is preferable to perforate the corrected perforation point reflecting the vision correction value through the vision.

[0045] The vision coordinates are preferably at a position where the vision is separated from the calculated perforation point coordinates by a preset distance in a straight line distance. The straight line distance is preferably a horizontal straight line distance in the case of vertical wall perforation.

[0046] That is, after moving the drill to the pre-correction vision coordinates, the drill robot calculates the correction value through vision, and then moves the drill to the new vision coordinates reflecting the correction value. Then, it can be confirmed that the error value has been corrected through the new vision coordinates. Specifically, it can be confirmed that the direction of the drill tip accurately aims at the intersection point at the new vision coordinates. Thereafter, the drill robot can move the drill forward to drill the intersection point.

[0047] It is preferable that a screen captured through the vision is displayed on the monitor of the terminal or the drill robot, and the pre-correction drilling point and intersection mark and the post-correction drilling point and intersection mark are displayed on the screen. Specifically, the error occurrence state where the center of the vision does not coincide with the intersection point and the error correction state where the center of the vision coincides with the intersection point can be intuitively confirmed through the screen.

[0048] To achieve the above-described object, according to an embodiment of the present invention, in a control method of a smart drill robot including a drill robot equipped with a drill for drilling and performing drilling in a real space, and an external terminal that converts the drilling point coordinates in a design coordinate system into the drilling point coordinates in the drill robot coordinate system and remotely provides them to the drill robot, a step of recognizing, by the terminal, the drilling point coordinates (drilling point manual coordinates) manually set by a user in a real space corresponding to a specific drilling point; a step of correcting, by the terminal, an error value between the drilling point coordinates (drilling point calculation coordinates) at which the drill robot drills in a real space corresponding to the specific drilling point and the drilling point manual coordinates; and a step of drilling the specific drilling point based on the drilling point manual coordinates may be provided.

[0049] The drilling point manual coordinates can be set by the user manually moving the drill robot and directly teaching the tip of the drill to the actual drilling point.

[0050] Among the plurality of punching points, the manual punching point coordinates are set with respect to the reference point, and the coordinates of the punching points excluding the reference point among the plurality of punching points can be input in relative coordinates with the reference point as the zero point through the terminal device.

[0051] The punching points excluding the reference point among the plurality of punching points can be punched by correcting the error value between the manual punching point coordinates and the calculated punching point coordinates.

[0052] The manual punching point coordinates are set by the user displaying cross marks at the actual punching points, and the cross marks can be recognized through vision.

[0053] Here, the specific punching point can be a reference point for a plurality of punching points, and the remaining punching points excluding the specific punching point can be continuously and automatically punched based on the calculated punching point coordinates with the error value corrected.

[0054] The calculation of the error value, the calculation of the correction value for correcting the error value, and the calculation of the corrected calculated punching point coordinates can be performed by the terminal device. That is, it is preferable that the drill robot manually performs punching based on the punching coordinates transmitted through the terminal device, in other words, the punching coordinates in the robot coordinate system.

Advantages of the Invention

[0055] Through an embodiment of the present invention, it is possible to provide a smart drill robot, a drill robot system, and a control method thereof, in which a user can accurately manually set punching points and utilize them to perform precise automatic punching.

[0056] Through an embodiment of the present invention, it is possible to provide a smart drill robot, a drill robot system, and a control method thereof, in which a user can easily manually set punching points and easily correct punching error values.

[0057] Through one embodiment of the present invention, it is possible to provide a smart drill robot, a drill robot system, and a control method thereof that are convenient to use by minimizing the position change of the total station in a very large and long working environment.

[0058] Through one embodiment of the present invention, it is possible to provide a drillable smart drill robot, a drill robot system, and a control method thereof that can minimize errors by setting and recognizing manual punching points using direct teaching or vision.

[0059] Through one embodiment of the present invention, it is possible to provide a smart drill robot, a drill robot system, and a control method thereof that allow a user to easily select an automatic drilling mode and a manual drilling mode according to the working environment.

[0060] Through one embodiment of the present invention, in a manual drilling mode, only with respect to a reference point among a plurality of drilling points, the drilling points are set and recognized in manual coordinates, so that errors can be minimized and a plurality of drilling points can be continuously drilled. It is possible to provide a smart drill robot, a drill robot system, and a control method thereof.

[0061] Through one embodiment of the present invention, in a work site where a drilling pattern having a constant relative position exists among a large number of drilling points and the pattern is repeated, precise drilling is possible and an operator can intuitively perform the operation of a drilling command through an external terminal. It is possible to provide a smart drill robot, a drill robot system, and a control method thereof.

Brief Description of the Drawings

[0062]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0063] Hereinafter, with reference to the accompanying drawings, a smart drill robot, a drill robot system, and a control method according to an embodiment of the present invention will be described in detail.

[0064] FIG. 1 is a block diagram of the configuration of a smart drill robot system according to an embodiment of the present invention.

[0065] The smart drill robot system may include a terminal 100, a smart drill robot 200, and a total station 300. The terminal 100 may be communicatively connected separately from the robot 200 and the total station 300, respectively.

[0066] The total station 300 is installed separately from the robot 200 at the work site, and the terminal 100 is preferably provided to be carried by an operator. That is, the terminal 100 is provided separately from the robot 200 physically, and it is preferable that the operator carrying the terminal 100 is also located separately from the robot 200.

[0067] Therefore, the terminal 100 can remotely provide the necessary information and control commands to the smart drill robot 200. That is, the operator can remotely control the robot 200 through the terminal 100. For this reason, the terminal 100 can be referred to as an external terminal. Therefore, the external terminal 100 is distinguished from the screen or monitor that can be provided in the smart drill robot.

[0068] Drilling is performed using a design drawing. The ceiling, wall, or column on which drilling is to be performed is illustrated on the design drawing, and drilling points may be indicated on the ceiling, wall, or column. The design drawing may be a 2D drawing, but recently, in large-scale facilities, it is often created as a 3D drawing.

[0069] The drilling points must be drilled at the designed size and depth at the designed positions. That is, drilling must be performed according to the preset drilling conditions.

[0070] The design drawing including the preset drilling conditions can be recognized through the terminal 100. The terminal 100 can display the design drawing corresponding to the space where the work is to be performed. Also, the drilling point information included in the design drawing can be recognized or extracted.

[0071] The drilling point information and the drilling conditions are transmitted to the drill robot 200 at the terminal, and the drill robot 200 will perform automatic drilling based on the transmitted information.

[0072] The coordinates shown on the drawing and the coordinates in the actual space must be mapped. This is because the drilling robot 200 needs to embody the drilling points based on the design coordinate system with the drilling points based on the actual coordinates. On the other hand, the drilling robot 200 will operate based on its own coordinates, that is, based on the drilling robot coordinate system. Since the drilling robot 200 itself can move and rotate, the coordinates of the reference point of the drilling robot will vary in actual coordinates. However, the coordinates of the reference point of the drilling robot are fixed in the drilling robot coordinate system. Therefore, the actual coordinates and the drilling robot coordinate system must be mapped, or the design coordinate system and the drilling robot coordinate system must be mapped.

[0073] The total station 300 may be provided for the mapping between the design coordinate system and the actual coordinate system and the mapping between the actual coordinate system and the drilling robot coordinate system. The total station 300 can be located on the bottom surface of the actual space and fixed while being supported by the bottom surface.

[0074] The total station 300 may not need to be separately modified for application to an embodiment of the present invention. That is, it is possible to directly use the existing total station 300.

[0075] The total station 300 can include a control unit 310, a measurement unit 320, an operation unit 330, and a communication unit 340 for basic control. The measurement unit 320 can be provided to aim at or track the measurement target and grasp the position information of the measurement target. The position information can be grasped by irradiating the prism of the measurement target with a laser.

[0076] The position information grasped by the total station 300 can be transmitted to the terminal 100 through the communication unit 340.

[0077] The total station 300 will aim at three reference points in the actual space, map the coordinate information grasped by aiming and the known coordinate information, and map the design coordinate system and the actual coordinates. That is, a transformation matrix for mapping the design space and the actual space can be obtained.

[0078] The drilling robot 200 is located in the real space. The reference point of the drilling robot can be set through the prism 202 that moves in conjunction with the drilling robot, particularly the robot 250. The total station 300 can sight the prism 202 and obtain the coordinate information grasped by the sighting. The terminal 100 can obtain the real-space coordinates of the prism 202 through the coordinate information of the prism. Further, the terminal 100 can obtain the coordinates of the prism 202 in the design space by using the transformation matrix between the design coordinate system and the actual coordinates.

[0079] On the other hand, the drilling robot 200 is not a device that is always fixed to the bottom. That is, the drilling robot 200 is a device that can travel, particularly can also perform rotational movement. However, during drilling, it can be said that the drilling robot 200 is fixed to the bottom surface and only the robot moves. Therefore, even if the position of the prism 202 of the drilling robot 200 is grasped, it is necessary to grasp the posture of the drilling robot 200, and more specifically, the azimuth angle.

[0080] The total station 300 sights three reference points on the drilling robot, and maps the coordinate information grasped by the sighting and the coordinate information known in the drilling robot coordinate system for the three reference points to map the actual coordinates and the robot coordinate system.

[0081] When the real-space coordinates for the three reference points are obtained by the total station 300, a transformation matrix for mapping the real space and the drilling robot space can be obtained. At this time, the reference points in the drilling robot coordinate system can be the prisms mounted on the drilling robot, and the prisms can be moved by the drive of the robot to three reference points that are preset on the preset drilling robot coordinate system and are at different positions from each other.

[0082] Substantially, the total station 300 transmits the coordinate information grasped by the sighting to the terminal 100, and the terminal 100 can perform the mapping.

[0083] The terminal device 100 can include a control unit 110, a communication unit 120, and a display unit 130. The control unit 110 can include a processor for executing various operations and control flows.

[0084] The communication unit 120 includes a communication module for communicating with the drill robot 200 and the total station 300, and a plurality of communication modules can be provided depending on the communication method.

[0085] The communication unit 120 includes a communication module for wirelessly communicating with the total station 300, and specifically can include a long-distance communication module. As an example, it can include a communication module capable of communicating through radio frequencies.

[0086] The communication unit 120 can include a communication module for wirelessly communicating with the drill robot 200. Specifically, it can include a Wi-Fi communication module and a Bluetooth (registered trademark) communication module as short-distance communication modules. Of course, the communication module method may be changed.

[0087] The display unit 130 can include an operation unit function that can be operated by an operator through clicking or touching. Of course, the display unit can include a display function for visually displaying information. Therefore, the display unit can also be said to be a user interface UI for inputting information and commands and displaying information and status. The display unit can display a design drawing, that is, a map. Also, as will be described later, it can display the perforation points where perforation has been completed on the map.

[0088] Hereinafter, the drill robot 200 will be described in more detail with reference to FIGS. 1 and 2.

[0089] The drill robot 200 can include a drill 230 and a control unit 210. The control unit 210 can be provided regardless of the operation control of the drill 230. That is, the operation control of the drill 230 can be performed through the terminal 100.

[0090] The communication unit 220 of the drill robot can be provided to communicate with the communication unit 120 of the terminal, and can include a Wi-Fi communication module and a Bluetooth communication module.

[0091] The drill robot 200 can include an operation unit 240. The operation unit 240 can include an operation unit for applying power to the drill robot, and if necessary, can include an operation unit for operating the lifting device 260 and the moving device 270 described later. The operation unit 240 may be provided on the main body 201 of the drill robot 200, or may be connected to the main body 201 by wire or wirelessly. Of course, both the operation unit 240 provided on the main body 201 and the operation unit 240 connected to the main body 201 by wire or wirelessly can be provided, and in this case, the functions of the respective operation units can be different from each other.

[0092] As an example, the operation unit connected to the main body 201 by wire or wirelessly can be provided to command the traveling of the moving device 270 and the lifting of the lifting device 260, and the operation unit mounted on the main body 201 can be provided separately from the terminal to monitor the operation of the drill robot 200 or issue an emergency stop command in an emergency.

[0093] Drilling through the drill requires not only rotating the drill but also moving the drill in the depth direction of the drilling. And the drilling points can be plural rather than one. Therefore, the position of the drill needs to be controlled in three axes. Therefore, in this embodiment, it is preferable that the drill robot 200 includes a robot 250 for adjusting the position of the drill.

[0094] The robot 250 can adjust the position of a drill provided at the end arm through a plurality of arms. Joints may be provided between the robot arms. That is, the position of the drill can be varied through rotational displacement at the joints. The position of the drill can be determined through a combination of rotational displacements of a plurality of joints. More specifically, the position of the tip 231 of the drill can be determined. Such a robot 250 can be embodied as a collaborative robot.

[0095] Specifically, the robot 250 can include a plurality of arms (arm, 251) and joints 252 between the arms. The robot 250 can include three arms. The first arm can be connected to the main body 201, and the last arm (the end arm) can be connected to the drill 230. The robot 250 is driven by six axes to move the drill 230 to the drilling position and can move the drill horizontally or vertically during drilling to perform drilling. That is, the drill 230 is fixed to the end arm through a bracket 205, and when the robot 250 is driven, the drill 230 can be moved primarily in three dimensions.

[0096] For accurate drill position control, the position of the drill must be accurately grasped. A prism 202 is provided for position grasping, but such a prism 202 must be moved integrally with the drill 230. That is, relative position changes between the two must be eliminated. Therefore, it is preferable that the drill and the prism 202 be fixed together to the end arm. A rigid bracket 205 can be used for fixing the prism.

[0097] The movement of the end of the robot 250 can be controlled based on the drill robot coordinate system. That is, the movement of the end of the robot 250 can be made to an accurate position desired in three dimensions. Since a rigid bracket 205 is connected to the end of the robot 250, the prism 202 and the drill 230 fixed to the rigid bracket 205 can also be moved to an accurate position.

[0098] On the other hand, although not shown, the drill robot 200 can additionally be equipped with various configurations. As an example, it may include a vacuum cleaner capable of sucking dust generated during drilling. A suction nozzle can be provided to surround the drill, and the suction nozzle can be elastically deformed. That is, the suction nozzle will adhere closely to the periphery of the drilling point to surround the drilling point, and when the drill moves upward due to drilling, it can be compressed to maintain the close contact. Therefore, the dust generated during drilling can flow into the vacuum cleaner body through the suction nozzle.

[0099] The operation start of the vacuum cleaner can be interlocked with the operation of the drill. That is, the drill can be rotationally driven while the vacuum cleaner starts suction. Since there may be remaining dust even after the rotation of the drill ends, the operation of the vacuum cleaner can be stopped after a short time has elapsed after the rotation of the drill ends.

[0100] The drill robot 200 can include a lifting device 260. The height of the ceiling where drilling is performed can vary depending on the work site. And the height that can be covered by the robot 250 has to be limited. Therefore, it is necessary to provide a lifting device 260 that can raise and lower the reference position of the robot 250.

[0101] The structure of the lifting device 260 can be the same as or similar to the structure of an aerial work platform. As an example, the lifting device 260 can be a scissor-type lifting device or a telescopic-type lifting device. The lifting device 260 can be lifted and lowered electrically. The lifting device can be located between the robot 250 and the main body 201. Also, the current height difference between the main body 201 and the robot 250 due to the lifting device 260, that is, the change in the reference height of the robot due to the lifting device, can be displayed on the terminal (see Figure 4).

[0102] The drill robot 200 can include a moving device 270. The area of the actual space where drilling is performed may be large, but the area that can be covered by the fixed drill robot 200 is inevitably limited. Therefore, it is necessary to be equipped with a moving device that can horizontally move the reference position of the robot 250.

[0103] The moving device 270 can include wheels and can move the drill robot in a form that grips the handle and pushes or pulls the drill robot.

[0104] On the other hand, the moving device can include an endless track. Since the area of the endless track in contact with the bottom surface is relatively very large, stable movement is possible. In addition, since the drill robot can be stably supported in a fixed state, vibrations that may occur during the drilling operation or while the robot 250 is moving can be significantly reduced. Also, since the area of the endless track in contact with the bottom surface is very large, the influence due to the state of the bottom surface (construction error or contamination state) can be relatively greatly reduced.

[0105] The drill robot 200 can include a sensor 280. The sensor 280 can be a vision sensor, and detailed matters about the vision sensor will be described later.

[0106] The drill robot 200 can include a horizontal adjustment device 290. The horizontal adjustment device 290 can be provided to sense the levelness of the drill robot 200 itself. Depending on the state of the bottom surface, the drill robot can be slightly tilted. That is, the base of the robot can be tilted. Such a slight tilt can be amplified and cause a large error during actual drilling. Also, a slight tilt means that the robot performs drilling in an unstable state. This can cause a decrease in the durability of the robot. Therefore, it can be provided to sense the levelness of the drill robot through the horizontal adjustment device 290 and maintain the level of the robot 250. It is preferable to perform drilling while maintaining the level of the robot 250, particularly the base of the robot, through the horizontal adjustment device 290.

[0107] Specifically, the horizontal adjustment device 290 is provided between the robot 250 and the lifting device 260, and can be provided to maintain the robot 250 horizontal regardless of the inclination of the main body 201 and the lifting device 260. The horizontal adjustment device 290 is driven through its own actuator, and the horizontal adjustment device 290 can be controlled to perform drilling while the base of the robot 250 maintains a horizontal state.

[0108] Hereinafter, with reference to FIGS. 3 to 9, a control method of a smart drill robot and a system according to an embodiment of the present invention will be described in detail.

[0109] According to this embodiment, it is possible to provide a manual drilling mode in which after correcting the drilling point information on the drawing using the drilling point information manually set by the user, automatic drilling is performed. Of course, according to this embodiment, an automatic drilling mode for automatically drilling based on the drilling point information on the drawing can also be provided.

[0110] The manual drilling mode can be started (S10) by input or selection through the user's terminal 100.

[0111] FIG. 4 illustrates an example of the screen of the display of the terminal.

[0112] A map for performing drilling work may be displayed in the left area of the display 130. Drilling points may be displayed on the map. The drilling points can be displayed in different colors depending on before drilling, during drilling progress, and after drilling completion. Also, the current total station position within the map may be displayed in the left area of the display. The icon of the total station may be displayed overlapping on the map. Preferably, the current position of the drill robot within the map may be displayed. The icon of the drill robot may be displayed overlapping on the map.

[0113] The upper end region of the display 130 may be provided with a menu for performing preliminary procedures for the drilling operation. As an example, a menu for communication connection between the terminal and the total station, communication connection between the terminal and the drill robot, opening the working drawing, mapping of drawing coordinates and real space coordinates, etc. may be provided. Also, a menu for checking the drill points that can be drilled at the current robot position and an automatic drilling menu 141 for instructing to automatically drill the drill points that can be drilled may be provided. Through the selection of the automatic drilling menu 141, the drill robot will automatically drill the drill points based on the calculated drill point coordinates.

[0114] The coordinates of the drill points may be displayed in the right side region of the display. The coordinates, status, name, etc. of the drill points may be displayed in a spreadsheet form. The three upper rows of the spreadsheet may display the three reference point coordinates for mapping the design coordinate system and the real space coordinates.

[0115] As shown in the figure, there are a plurality of drill points in the space that must be drilled currently, and one of the methods for drilling these may be the manual drilling mode.

[0116] The drilling mode can be selected by the user not only through the aforementioned automatic drilling menu 141 provided in the display, but also through separately provided mode menus 142, 143. The user can select manual drilling, that is, the manual drilling mode 142, through the mode menu. Also, the user can select the selected point drilling mode 143 through the mode menu. The selected point drilling mode 143 is a mode for drilling a single drill point. Therefore, as an example, in order to drill three drill points in the selected point drilling mode, each drill point can be selected in the selected point drilling mode.

[0117] The manual drilling mode may be a mode in which the user can select the number of drill points to be drilled. That is, it may be a mode for multi-point drilling. In the manual drilling mode, unlike the automatic drilling mode, drilling is not performed according to the calculated drill point coordinates.

[0118] Specifically, when the automatic drilling mode is selected, the terminal converts the drilling point coordinates on the map into coordinates in the drill robot coordinate system and transmits them to the drill robot. The drill robot moves the robot through the transmitted coordinate information to perform drilling. Multiple drilling points can be drilled sequentially. In particular, the drill robot can sequentially drill points that can be drilled at the current position without special instructions from the user. The status of the drilling point can be displayed as "scheduled", "in progress" during drilling, and "completed" after drilling is completed. The status of the drilling point can be clearly distinguished by using different characters and different background colors.

[0119] As described above, in the automatic drilling mode, due to various reasons such as the error of the total station, the error of the robot arm, and the construction error, the actual drilling position will have an error value. As a solution to eliminate or significantly reduce such error values, in this embodiment, a manual drilling mode can be provided.

[0120] It can be said that the manual drilling mode is very effective in precisely drilling when the drilling points form the same pattern repeatedly for each vertical wall, especially the vertical wall of the column. As an example, at a work site where columns are formed at regular intervals and drilling points with the same number and the same pattern are located for each column, the user can intuitively and easily issue a drilling work instruction through an external terminal, and very precise drilling can be performed.

[0121] The manual drilling mode can be started (S10) when the user selects the manual drilling mode.

[0122] The user can manually set the punch point coordinates at the punch point position corresponding to a specific punch point on the map. That is, the user can set the point where actual punching must be performed. The setting method may be to display a cross mark at the punching point. In other words, the user can manually set the punch point coordinates (manual punch point coordinates) in the real space. Since the user directly sets the actual punch point position at the work site, the manual punch point coordinates can be set very accurately.

[0123] On the other hand, the drill robot will operate to punch the punch point corresponding to the specific punch point. That is, it operates to punch the punch point coordinates (calculated punch point coordinates) set by the drill robot in the real space corresponding to the specific punch point specified on the drawing. However, the calculated punch point coordinates will have an error from the punch point that actually needs to be punched due to the various reasons described above. In other words, punching directly using the calculated punch point coordinates would be the same as punching in the automatic punching mode.

[0124] As an example, as shown in Figure 5, the name and xyz coordinates of the specific punch point may be p100 and 19500, 6600, 2500 respectively. In the automatic punching mode, the specific punch point will be punched through the calculated punch point coordinates, but errors may occur. In the manual punching mode, since the specific punch point will be punched through the manual punch point coordinates manually set by the user, errors can be eliminated or significantly reduced.

[0125] In the manual punching mode, the error value between the manual punch point coordinates and the calculated punch point coordinates is corrected, and the specific punch point is punched based on the manual punch point coordinates. Therefore, punching can be performed very precisely to eliminate or significantly reduce the occurrence of errors.

[0126] When the coordinates of the piercing points that must actually be pierced are (A, B, C), the user can set the coordinates (A, B, C) as the manual piercing point coordinates. As will be described later, the manual piercing point coordinate setting can be performed by directly teaching the coordinates (A, B, C) or by making a mark display or the like. With such a manual piercing point coordinate setting, even if an error occurs, it can be said that this is at a level that can be sufficiently ignored.

[0127] On the other hand, when the coordinates of the piercing points that must actually be pierced are (A, B, C), the calculated piercing point coordinates can be (A + a, B + b, C + c). That is, when piercing based on the calculated piercing point coordinates, an error of only (a, b, c) can occur. Such an error can be at a level that cannot be ignored. Here, if the robot is to pierce at the coordinates (A, B, C) despite being at the coordinates (A + a, B + b, C + c), the robot can recognize the error (a, b, c). That is, the error value can be corrected, and subsequent piercing points can be pierced through such error value correction.

[0128] When the piercing of a specific piercing point is completed, the corresponding piercing point displayed on the display can be displayed as pierced. That is, the "scheduled" display of the p100 piercing point is converted to a "completed" display.

[0129] The setting of the manual piercing point coordinates can be performed in various ways. As an example, the setting of the manual piercing point coordinates can be performed through direct teaching.

[0130] Direct teaching can be aiming the drill tip at the actual position corresponding to a specific piercing point. That is, the user can manually move the robot so that the drill tip contacts the actual position that must be pierced. At this time, the drill robot can recognize the point where the drill tip contacts as the drill robot coordinate system. Of course, through this, the terminal can also recognize the coordinates of the point where the drill tip contacts. By setting the manual piercing point coordinates through such direct teaching, errors can be eliminated and piercing can be performed precisely.

[0131] Manual coordinate setting of the punching points through direct instruction can be used to set one punching point or multiple punching points.

[0132] Preferably, the step (S20) of inputting the number of punching points in the manual punching mode can be performed.

[0133] In the step of inputting the number of punching points, as an example, the user can select single-point punching or four-point punching. Of course, it may be set to select different numbers of punching points.

[0134] As described above, the punching pattern of large-scale facilities can be shown repeatedly. As an example, the positions of the columns can be set regularly and repeatedly, and the number and position of punching points for each column can also be shown identically. Therefore, in such a working environment, it is necessary to provide a smart drill robot and a control method of the system that are convenient to use while eliminating errors.

[0135] Figure 5 is an enlarged view of the spreadsheet for the punching point information shown in Figure 4.

[0136] It can be seen that the punching points p100 to p103 are four punching points whose x coordinates form a square in the yz plane, and it can be seen that the punching points p104 to p107 are four punching points whose x coordinates are 19500 and form a square in the yz plane. That is, the four punching points are a set, and it can be seen that the adjacent sets of four punching points are formed at a distance of 4.6 m in the y direction. Assuming that one set of punching points forms horizontal punching on one column, it can be seen that the two columns are formed side by side at an interval of 4.6 m, and the punching points on each column are at the same position.

[0137] Figure 6 is an example of a guidance screen displayed on the display of the terminal after four-point punching is selected. Such a guidance screen can be displayed as a pop-up screen.

[0138] As shown, four-point perforations are selected, and the four-point perforation points can be the vertices of a square or a rectangle. Such a perforation pattern can be repeatedly shown for each column. Therefore, the coordinates of the perforation points based on the column coordinates can be shown identically for each column.

[0139] As an example, the user can select the perforation point at the lower left end among the four-point perforation points as the reference point. Of course, it can be preset so that the perforation point at the lower left end becomes the reference point. The user can aim the drill tip at the reference point in the actual space through direct teaching. Once the direct teaching is completed, the user can input completion. In such a process, the reference point is recognized (S30).

[0140] After the direct teaching is completed, the drill robot performs a perpendicularity adjustment drive. That is, it performs a drive to perform perforation perpendicular to the wall surface to be perforated. Of course, it can perform the perpendicularity adjustment drive by driving to release the contact between the drill tip and the actual perforation point.

[0141] On the other hand, by setting (S30) the reference point corresponding to a specific perforation point through direct teaching in the manual coordinates of the perforation point, the error value between the manual coordinates of the perforation point and the calculated coordinates of the perforation point can be recognized, and this error value can be corrected. That is, the error value can be corrected to correct the current calculated coordinates of the perforation point. In other words, the correction value can be calculated. Such error value calculation and correction value calculation can be performed by the drill robot, but it would be more preferable to perform them on the terminal device.

[0142] The calculated correction value can be used for the perforation of other perforation points. Therefore, separate direct teaching may not be necessary for the perforation of the other three perforation points excluding the reference point shown in FIG. 6.

[0143] As shown in FIG. 7, the coordinates of other punching points can be easily set by inputting only the y-axis displacement and / or z-axis displacement on the plane with the reference point as the coordinate reference (S40). That is, when four punching points form a rectangle, by inputting only the width and height with the reference point as the reference, the punching coordinates for the remaining three punching points can be set (S40).

[0144] As an example, the p102 punching point shown in FIG. 5 becomes the reference point located at the lower left end of the punching points forming a rectangle, and the coordinates of the remaining p100, p101, p103 punching points, etc. can be easily set by inputting only the width and height.

[0145] Here, the punching points forming a rectangle are just an example, and it can be understood that such a method can also be applied to various shapes and the number of punching points. For example, in the case of three punching points forming an isosceles triangle, it can be understood that the remaining two coordinates excluding the reference point can be easily set by inputting the length of the base and the height of the isosceles triangle.

[0146] If the reference point is directly taught in the manual punching mode and the coordinates of the remaining punching points are set, the drill robot will correct the error value and perform punching (S50), and thus punching can be performed very accurately.

[0147] When punching is completed, the punched punching points are displayed on the map (S60).

[0148] The setting of the manual punching point coordinates in the manual punching mode can be performed by the user displaying a cross mark at the actual punching point position. Such a cross mark can be recognized through vision (S30).

[0149] Through FIG. 8, the manual punching point coordinate setting and punching method through vision will be described in detail.

[0150] The drill robot may be equipped with Vision 280, and preferably, Vision 280 can be mounted on a bracket. That is, Vision 280 and the drill 230 can be mounted on the bracket 205. Although the drill direction and the projection direction of the vision may not be aligned, it would be preferable for the drill direction and the projection direction to be parallel for more precise error value calculation and correction value calculation.

[0151] The vision is preferably mounted near the drill and is positioned at a distance from the wall surface to be drilled by more than the length of the drill tip. It can be a camera for taking video images and can be equipped to capture an area wider than the allowable error range at the separation distance between the vision and the wall surface during drilling.

[0152] As shown in FIG. 8, for the perforated wall surface, especially for each column, the same number and the same position of perforation points can be shown in the same pattern. Therefore, the user can visually display the actual perforation points for each column in advance using cross marks.

[0153] The cross marks are displayed by two straight lines intersecting each other, and the intersection point can be said to be the point where actual drilling must be performed. As an example, the user can display four cross marks, that is, four intersection points, by displaying four straight lines. Here, the actually displayed intersection points are the perforation points shown on the map. As an example, the perforation points shown in FIG. 8(a) can be the p100 - p103 perforation points shown in FIG. 5.

[0154] The drill robot will move to a position corresponding to the specific perforation point in order to drill the specific perforation point. At this time, the drill robot will be driven using the perforation point calculation coordinates described above. That is, the tip of the drill bit is moved to the position of the perforation point on the drawing. Specifically, rather than the perforation point calculation coordinates, as an example, the drill bit is moved to a position where the vision is set at a preset distance in the x - axis direction on the drilling plane (zy).

[0155] FIG. 8(a) shows the state where the drill robot has moved to the drilling point and the drill tip and vision are looking at the drilling wall surface. The green line (upper line) indicates the direction pointed by the vision, and the red line (lower line) indicates the direction pointed by the drill.

[0156] The vision can be provided so as to sense the distance from the wall surface. In order to correct the error, it is preferable that the distance between the vision and the wall surface is preset. As an example, with the drill robot moved to the drilling point, the distance between the wall surface and the vision can be preset to 30 cm. The coordinates at this time can be referred to as vision coordinates. The drill robot preferably receives the feedback of the distance value from the wall surface sensed by the vision, has the vision have a preset distance from the wall surface, and is driven to move the tip of the drill chip to the drilling point position on the drawing.

[0157] After moving the drill chip to the position on the drawing of the drilling point, the drill robot starts driving for calculating the correction value.

[0158] FIG. 8(b) drives to move the vision to the position where drilling must actually be performed, that is, the intersection mark position. Due to the error value between the manually set coordinates of the drilling point and the calculated coordinates of the drilling point, the center of the vision and the center of the crosshair do not coincide. When the vision is moved to the intersection mark position, the difference between the center of the vision and the center of the intersection mark can be obtained. That is, the error value can be obtained. Thereafter, the center of the vision is moved by the error value so as to match the center of the intersection mark. The error between the center of the vision and the center of the intersection mark is obtained again, and the error value is obtained again. That is, by repeatedly performing the calculation and correction of the error value, the precision can be significantly improved.

[0159] When the correction value is calculated through the vision, the drill robot applies the correction value to move the tip of the drill chip to the drilling position. That is, the correction value is applied to the calculated coordinates of the drilling point to generate new calculated coordinates of the drilling point, and the drill chip moves according to the new calculated coordinates of the drilling point.

[0160] FIG. 8(c) illustrates the movement of the drill to the corrected perforation points. It can be confirmed that the position pointed by the drill coincides with the point marked with the intersection mark.

[0161] FIG. 8(d) illustrates the state where perforation is performed using the correction value.

[0162] On the other hand, perforation for the remaining perforation points can also be performed through the same process. That is, for the remaining perforation points, movement to the perforation points on the drawing, calculation of the vision correction value, movement to the corrected perforation points, and perforation can be sequentially performed.

[0163] FIG. 9 illustrates an example of a screen where the user can intuitively confirm the correction using vision.

[0164] The screen captured by vision can be displayed on the terminal or the operation unit 240. FIG. 9(a) is a screen where the intersection and the center of vision do not coincide, and the user can intuitively recognize the error value through the screen. FIG. 9(b) is a screen where the intersection and the center of vision coincide, and the user can intuitively recognize that the error has been corrected through the screen.

[0165] On the other hand, when using vision, the flow shown in FIG. 3 can be applied as follows.

[0166] The perforation point number input stage (S20) can be omitted or applied identically. And the perforation reference point recognition stage (S30) by direct teaching can recognize the perforation reference point by vision recognizing the intersection. At this time, when using vision, all the perforation points displayed by the user through the intersection can be the reference points.

[0167] The other perforation point position input stage (S40) at the reference point can be replaced by the stage of correcting the error using vision. The error between the perforation point coordinates that must be actually perforated through vision and the calculated perforation point coordinates can be confirmed and the error can be corrected. Such a correction process can be repeatedly performed to perform more accurate perforation.

[0168] When the perforation is completed, similarly, the completion of the corresponding perforation point can be displayed on the map (S60).

[0169] Of course, when vision is used, the perforation point input step (S20) is performed, and as an example, the intersection can be displayed only at one reference point among four perforation points. Thereafter, after the step of inputting the positions of other perforation points at the reference point (S40) is performed first, the perforation reference point can be recognized (S30) and error correction can be performed by vision. Thereafter, automatic perforation can be sequentially performed for the four perforation points. The reference point perforation may be performed using the correction value by vision, and the remaining perforation points may be perforated using the previously input width and height.

Industrial Applicability

[0170] It is described in the detailed description of the invention.

Claims

1. A drill robot equipped with a drill for drilling and performing drilling in the real space; and An external terminal device that converts the drilling point coordinates in the design coordinate system into the drilling point coordinates in the drill robot coordinate system and remotely provides them to the drill robot, and corrects the error value between the drilling point coordinates manually set by the user in the real space (drilling point manual coordinates) corresponding to the specific drilling point and the drilling point coordinates (drilling point calculated coordinates) at which the drill robot drills in the real space corresponding to the specific drilling point, The drill robot drills the specific drilling point based on the drilling point manual coordinates, a smart drill robot system.

2. The terminal device is provided to display a map having the space where drilling is performed and the drilling point positions, and displays the completion of drilling on the map after the completion of drilling at the specific drilling point, the smart drill robot system according to claim 1.

3. The terminal device provides a manual drilling mode and is provided to drill the specific drilling point based on the drilling point manual coordinates in the manual drilling mode, the smart drill robot system according to claim 1.

4. The terminal device provides an automatic drilling mode and is provided to drill the specific drilling point based on the drilling point calculated coordinates in the automatic drilling mode, the smart drill robot system according to claim 3.

5. In the manual drilling mode, the number of one or a plurality of drilling points can be selected, the smart drill robot system according to claim 3.

6. In the manual drilling mode, the drilling point manual coordinates are set by the user manually moving the drill robot and directly teaching the tip of the drill to the actual drilling point, the smart drill robot system according to claim 5.

7. After the number of a plurality of drilling points is selected in the manual drilling mode, the drilling point manual coordinates are set by the direct teaching with respect to the reference point among the plurality of drilling points, the smart drill robot system according to claim 6.

8. After the direct teaching, the drill robot drills the reference point after performing verticality adjustment drive, the smart drill robot system according to claim 7.

9. The smart drill robot system according to claim 7, wherein the coordinates of the punching points excluding the reference point among the plurality of punching points are input in relative coordinates with the reference point as the zero point through the terminal device.

10. The smart drill robot system according to claim 9, wherein the punching points excluding the reference point among the plurality of punching points are punched after correcting the error value between the manual punching point coordinates and the calculated punching point coordinates.

11. The smart drill robot system according to claim 3, wherein the manual punching point coordinates are set by the user displaying cross marks at the actual punching points.

12. The smart drill robot system according to claim 11, wherein a vision for recognizing the cross marks is provided.

13. The smart drill robot system according to claim 12, wherein after the drill robot moves to the vision coordinates corresponding to the calculated punching point coordinates, the drill robot punches the punching points corrected by reflecting the vision correction value through the vision.

14. The smart drill robot system according to claim 13, wherein the vision coordinates are positions separated from the calculated punching point coordinates by a preset distance in a straight line distance by the vision.

15. The smart drill robot system according to claim 13, wherein a screen photographed through the vision is displayed on the monitor of the terminal device or the drill robot, and the pre-correction punching points, cross marks, post-correction punching points, and cross marks are displayed on the screen.

16. In a control method of a smart drill robot including a drill for punching and a drill robot that performs punching in a real space and an external terminal device that converts the punching point coordinates in the design coordinate system into the punching point coordinates in the drill robot coordinate system and remotely provides them to the drill robot, The step of recognizing, by the terminal device, the punching point coordinates (manual punching point coordinates) manually set by the user in the real space corresponding to a specific punching point; The step of correcting, by the terminal device, the error value between the punching point coordinates (calculated punching point coordinates) at which the drill robot punches in the real space corresponding to the specific punching point and the manual punching point coordinates; and A control method of a smart drill robot including the step of punching the specific punching point by the drill robot based on the manual punching point coordinates.

17. The control method of the smart drill robot according to claim 16, wherein the manual coordinates of the drilling point are set by the user manually moving the drill robot to directly teach and set the tip of the drill at the actual drilling point.

18. The control method of the smart drill robot according to claim 17, wherein the manual coordinates of the drilling point are set with respect to a reference point among a plurality of drilling points, and the coordinates of the drilling points excluding the reference point among the plurality of drilling points are input in relative coordinates with the reference point as the origin through the terminal.

19. The smart drill robot system according to claim 18, wherein the drilling points excluding the reference point among the plurality of drilling points are drilled by correcting the error value between the manual coordinates of the drilling point and the calculated coordinates of the drilling point.

20. The control method of the smart drill robot according to claim 16, wherein the manual coordinates of the drilling point are set by the user displaying an intersection mark at the actual drilling point, and the intersection mark is recognized through vision.

Images