Construction robots

Abstract

The present invention provides a robot that includes a travel device and a work device, both of which allow for easy replacement of the work device. [Solution] A construction robot 100 comprises a traveling device 10 capable of autonomous driving based on location information and a work device 20 configured to be movable by the traveling device, wherein the traveling device has a communication unit 12 and a control unit 11 that controls the communication unit 12, and the work device has a work unit 24 capable of performing a predetermined task, a communication unit 22 that can communicate with the communication unit 12 and a control unit 21 that controls the communication unit 22, wherein the control unit 11 transmits a signal to the communication unit 12 via the communication unit 12 to instruct the work unit to start a predetermined task, according to the work status of the work unit and the traveling status of the traveling device, and the control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 corresponding to the completion of the predetermined task. The control unit 11 and the control unit 21 do not transmit signals that affect control other than the start and completion of the predetermined task to each other.

Description

TECHNICAL FIELD

[0001] The present invention relates to a construction work robot.

BACKGROUND ART

[0002] Conventionally, various operations are performed in building construction, and automation of these operations using work robots has been carried out. For example, Patent Documents 1 to 3 disclose a robot configured by separating a traveling device and a work device for performing finishing work and the like so that such various operations can be performed, and connecting these devices. By configuring the work device that performs a plurality of operations in a divided manner in this way, the connected work device can be changed for each work type, and the robot can be caused to perform various operations.

PRIOR ART DOCUMENTS

PATENT DOCUMENTS

[0003]

PATENT DOCUMENT 1

PATENT DOCUMENT 2

PATENT DOCUMENT 3

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] For example, in the robots described in Patent Documents 1 to 3, the traveling device includes a control device, and the control device controls the work of the work device by performing communication between the traveling device and the work device each time. However, at present, traveling devices are being developed and sold by various manufacturers. On the other hand, in order to perform various operations performed in building construction, various work devices corresponding to purposes are required. For this reason, standards and specifications for enabling mutual cooperation are required for each combination of the traveling device and the work device.

[0005] In particular, mutual communication is essential for the coordinated operation of the traveling and working devices. However, the design and development of communication standards and specifications are required for each combination of traveling and working devices, leading to problems such as prolonged development periods and increased costs. Furthermore, the complexity of the communication system when coordinating traveling and working devices makes it difficult to ensure compatibility and versatility when combining multiple types of devices.

[0006] The present invention has been made in view of the above problems, and its object is to provide a robot that includes a traveling device and a working device that can be easily replaced. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is a construction robot comprising a traveling device capable of autonomous movement based on position information and a work device configured to be movable by the traveling device. The traveling device has a first communication unit and a first control unit that controls the first communication unit. The work device has a work unit capable of performing a predetermined task, a second communication unit capable of communicating with the first communication unit, and a second control unit that controls the second communication unit. The first control unit transmits a signal to the second communication unit via the first communication unit to instruct the work unit to start a predetermined task, depending on the work state of the work unit and the travel state of the traveling device. The second control unit transmits a signal to the first communication unit via the second communication unit corresponding to the completion of the predetermined task. The first control unit and the second control unit do not transmit signals that affect control other than the start and completion of the predetermined task to each other.

[0008] According to the above embodiment, by providing control units for both the traveling device and the working device, the functions related to traveling can be realized by the control of the first control unit, and the functions related to working can be realized by the control of the second control unit, thus separating the functions of the traveling device and the working device. Furthermore, by making the communication information between the traveling device and the working unit of the working device as simple as possible and further reducing the number of communications, devices of different standards and specifications can be easily combined.

[0009] According to one aspect of the present invention, the work device and the travel device are configured to perform any operation in sequence to perform a predetermined operation. The next operation in a plurality of operations performed by the work device and the travel device can be determined based on the current operation of the work device and the travel device.

[0010] According to the above embodiment, the following operations of the traveling device or the working device can be uniquely determined regardless of the type of working device connected to the traveling device.

[0011] According to one aspect of the present invention, the work device has a vehicle section that can be connected to a travel device and on which a work unit can be mounted, and the area of ​​the bottom surface of the work unit is smaller than the area of ​​the top surface of the vehicle section. Furthermore, the travel device is capable of traveling with the work device mounted, and the area of ​​the bottom surface of the work unit is smaller than the area of ​​the top surface of the travel device.

[0012] According to the above embodiment, by designing the working area to be smaller than the area of ​​the vehicle (or the top surface of the housing of the running gear, etc.), the working area can be replaced and the work can be performed.

[0013] According to one aspect of the present invention, a power supply is provided independently for both the traveling device and the working device.

[0014] According to the above embodiment, by not sharing a power supply and making the power systems for the travel device and the work device independent, the functions of the travel device and the work device can be separated, thereby increasing the convenience of having interchangeable work devices.

[0015] According to one aspect of the present invention, the first control unit controls autonomous driving, and the second control unit controls the work unit to perform a predetermined task.

[0016] According to the above embodiment, the control unit of the travel device only needs to control autonomous driving, and the other control units of the work device only need to control the work, thus enabling each function to be independent. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a robot including a traveling device with which a working device can be easily replaced, and the working device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] [Figure 1] It is a block diagram showing the configuration of a construction work robot according to an embodiment of the present invention. [Figure 2] It is a schematic diagram showing the construction work robot when performing water replacement work or cleaning work. [Figure 3] It is a schematic diagram showing a construction work robot according to a modified example of FIG. 2. [Figure 4] It is a schematic diagram showing autonomous traveling of a traveling device constituting the construction work robot. [Figure 5] It is a schematic diagram showing a case where the construction work robot performs water replacement work. [Figure 6] It is a schematic diagram showing a case where the construction work robot performs cleaning work. [Figure 7] It is a schematic diagram showing the construction work robot when performing conveying work. [Figure 8] It is a schematic diagram showing a case where the construction work robot performs conveying work. [Figure 9] It is a schematic diagram showing the construction work robot when performing concrete crack investigation, bolt-tightened portion recording work, or security work. [Figure 10] It is a schematic diagram showing a case where the construction work robot performs concrete crack investigation. [Figure 11] It is a schematic diagram showing a case where the construction work robot performs recording work on bolt-tightened portions. [Figure 12] It is a schematic diagram showing a case where the construction work robot performs security work. DETAILED DESCRIPTION OF EMBODIMENTS FOR IMPLEMENTING THE INVENTION

[0019] Hereinafter, a construction work robot according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0020] Figure 1 is a block diagram showing the configuration of a construction robot 100 according to one embodiment of the present invention. Figure 2 is a schematic diagram showing the construction robot 100 when performing water change work or cleaning work, and Figure 3 is a schematic diagram showing a construction robot according to a modified example of Figure 2. The construction robot 100 of this embodiment is a robot used at a construction site and includes a traveling device 10 and a working device 20, as shown in Figure 1. The working device 20 is movable together with the traveling device 10. The working device 20 may be configured to be loaded on top of the traveling device 10 and moved together, as shown in Figure 2, or it may be mounted on a vehicle unit 25 and the traveling device 10 tows the working device 20 together with the vehicle unit 25, as shown in Figure 3. Alternatively, the traveling device 10 may push the working device 20 from behind to move it. The method of connecting the working device 20 and the traveling device 10 is not particularly limited, but they may be connected using a general coupling device, or a part of the working device 20 may be inserted into the traveling device 10. As shown in Figure 2, when the work device 20 is loaded onto the travel device 10, the work section 24 can be configured to be smaller than the area of ​​the top surface of the travel device 10's housing. Also, as shown in Figure 3, when the work device 20 is connected to the travel device 10 and towed, the bottom surface area of ​​the work section 24 can be configured to be smaller than the top surface area of ​​the vehicle section 25.

[0021] (Traction device) Figure 4 is a schematic plan view showing the route taken by the traveling device 10. The traveling device 10 is a traveling device capable of autonomous travel based on position information, and as shown in Figure 1, it includes a control unit 11 (corresponding to the first control unit), a communication unit 12 (corresponding to the first communication unit), a power supply unit 13, and a drive system 14. The control unit 11 is, for example, a microcomputer and can control the drive system 14 of the traveling device 10. Autonomous travel of the traveling device 10 can be realized using known technology. For example, the traveling device 10 includes a position information detection device such as LiDAR and can move along a route pre-stored in the control unit 11. The control unit 11 can also be equipped with a storage unit such as RAM or ROM. This allows the traveling device 10 to set relay points when traveling, interrupt travel to head to a relay point, or resume travel from the last traveled point if another operation is performed while traveling to a relay point (see Figure 4). By controlling the motor and operating mechanism with the control unit 11, the traveling device 10 can travel autonomously. Furthermore, the control unit 11 controls the communication unit 12 to communicate with the communication unit 22.

[0022] The communication unit 12 is, for example, a wireless communication means such as Bluetooth, and is capable of communicating with the communication unit 22 of the work device 20. The communication means of the communication unit 12 is not necessarily limited to wireless communication, and may also be infrared communication or wired communication.

[0023] The power supply unit 13 consists of a battery and supplies power to the control unit 11, the communication unit 12, and the drive system 14. The drive system 14 includes tires provided at the bottom of the running device 10, a motor (not shown) that drives the tires, and an operating mechanism (not shown) that controls the direction of the front tires.

[0024] (Working equipment) The work device 20 is configured to be movable by the travel device 10 and includes a control unit 21 (corresponding to the second control unit), a communication unit 22 (corresponding to the second communication unit), a power supply unit 23, and a work unit 24, as shown in Figure 1. The work device 20 is interchangeable with the travel device 10, and multiple types can be provided depending on the tasks described later. The work device 20 and the travel device 10 are configured to perform any operation in sequence to perform a predetermined task. The next operation in the multiple operations performed by the work device 20 and the travel device 10 can be determined based on the current operation of the work device 20 and the travel device 10. Details will be described later.

[0025] The control unit 21 consists of, for example, a microcomputer and is configured to communicate with the communication unit 22 and the work unit 24. The control unit 21 is configured to control the work unit 24 to perform a predetermined task. The control unit 21 is configured to control the communication unit 22. The control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the work unit 24 to start a predetermined task, according to the work status of the work unit 24 and the travel status of the travel device 10, which will be described later. The control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 to indicate the completion of the predetermined task.

[0026] The communication unit 22 of the work device 20 consists of communication means corresponding to the communication unit 12 of the travel device 10, and the communication unit 22 of the work device 20 and the communication unit 12 of the travel device 10 are configured to communicate with each other. The signals that the communication unit 12 and the communication unit 22 communicate with each other are signals that instruct the start and end of a predetermined task performed by the work unit 24, regardless of which task the work device 20 performs (described later). The control unit 11 and the control unit 21 are configured not to transmit signals that affect control other than the start and completion of a task. That is, the signals that the communication unit 12 and the communication unit 22 communicate with each other are limited to signals indicating the start and completion of a task, and the signals indicating the start and completion of a task include a set of communication data normally necessary when communicating the start and completion of a task, such as codes for checking transmission and reception errors, in addition to codes indicating the start and completion of a task. Furthermore, as signals indicating the completion of a task, in addition to the completion of a task under normal circumstances, there is a code indicating the completion of a task for emergency stop (temporary stop) in emergency situations. Furthermore, the system includes a code indicating the start of work to resume work after an emergency stop (temporary stop) as a signal to indicate the start of work. On the other hand, apart from the start and completion of work as described above, no data or commands are communicated to set or change the content of the operation of the traveling device 10 or the operation of the work unit 24 in the working device 20.

[0027] The power supply unit 23 supplies power to the work unit 24, the control unit 21, and the communication unit 22. As shown in Figure 1, the power supply unit 13 and the power supply unit 23 are provided independently for the traveling device 10 and the working device 20.

[0028] The work unit 24 is the part that performs a predetermined task. The work unit 24 can be driven and controlled by the control unit 21. Furthermore, as shown in Figure 3, when the work unit 24 is loaded onto the vehicle unit 25, the area of ​​the work unit 24 (area viewed from above) can be made smaller than the area of ​​the vehicle unit 25. The vehicle unit 25 is connectable to the running gear 10 and is configured to be able to carry the work unit 24. Furthermore, as shown in Figure 2, the running gear 10 can travel with the work device 20 loaded on it. In that case, the area of ​​the bottom surface of the work unit 24 is made smaller than the area of ​​the top surface of the running gear 10. The work unit 24 can have various configurations depending on the task performed by the work device 20. The configuration of the work unit 24 for each task will be described below.

[0029] (Water change) Figure 5 is an explanatory diagram of the water replacement operation. In Figure 5, the work unit 24 is configured to perform water replacement work by sucking up water present on the floor within a predetermined range. The work unit 24 includes a suction unit 27, which includes a vacuum and hose for water recovery, as shown in Figure 2, a pump (not shown), and a mounting unit 26 equipped with a recovery tank. The work unit 24 further includes a water level sensor (not shown) for detecting the water level of the water contained in the mounting unit 26 (see Figures 2 and 3). The hose of the suction unit 27 hangs down to ground level, and by driving the pump, water from the ground can be drawn up. The drawn-up water is collected in the recovery tank of the mounting unit 26. The amount of water in the recovery tank is detected by the water level sensor, and the detected water amount information is sent to the control unit 21. The work device 20 performs water replacement while traveling along a designated route using the travel device 10, and when the mounting unit 26 is full, it can move to a drainage location for drainage (see Figure 5). The work section 24 may also be configured to be openable and closable and may include a valve that, when opened, can discharge water contained in the mounting section 26 to the outside.

[0030] (Cleaning work) Figure 6 is an explanatory diagram of the cleaning operation. In Figure 6, the work unit 24 is configured to perform cleaning operations for a specific location. When the work unit 24 performs a cleaning operation, it may include a suction unit 27 for sucking up debris, as shown in Figure 2, and a storage unit 26 for storing the debris sucked up by the suction unit 27. The work unit 24 may also include a drive unit (not shown) including a motor that generates suction force in the suction unit 27, and a pressure sensor (not shown) that detects when the storage unit 26 is full by changing the air pressure inside the storage unit 26. The work unit 20 cleans while traveling along a designated route using the travel device 10, and when the storage unit 26 is full, it can move to a waste disposal location to dispose of the debris (see Figure 6). The storage unit 26 may also include an opening for discharging debris to the outside when debris accumulates in the storage unit 26, and a motor for tilting the storage unit 26 with the opening open downwards to discharge debris, or for rotating it to a horizontal position.

[0031] (Transportation work) Figure 7 is a schematic diagram showing a construction robot 100 performing transport operations, and Figure 8 is an explanatory diagram of the transport operation. When the construction robot 100 performs transport operations, the work unit 24 may include a loading unit 26 having a housing for loading cargo, as shown in Figure 7. The housing is made of a relatively rigid material such as metal or plastic and has a semi-enclosed space for loading cargo. Loading of cargo onto the loading unit 26 can be determined by a load sensor. The work unit 24 may also be configured to have a door that can be opened and closed by a detachable lid or hinge, etc., attached to the loading unit 26 as needed. In addition, when unloading cargo, a lamp (not shown) that can be illuminated at the unloading position (transport position) can be installed. The work unit 20 can travel toward the cargo loading position and the cargo transport position by the traveling device 10 (see Figure 8).

[0032] (Crack inspection work, recording of bolted areas) Figure 9 is a schematic diagram showing a construction robot 100 for crack inspection, bolt fastening section recording work, or security work, while Figures 10 and 11 are explanatory diagrams for crack inspection and bolt fastening section recording work. When the work unit 24 performs crack inspection or bolt fastening section recording work, it may include a mounting unit 26 equipped with a camera 28, etc., that takes pictures at a designated position (see Figure 9). The travel device 10 allows the work device 20 to move toward the shooting position, stop at the shooting position, and then perform the shooting work (see Figures 10 and 11).

[0033] (security) Figure 12 is an explanatory diagram of a construction robot 100 performing security duties. When the work unit 24 performs security duties, the work unit 24 may include a mounting unit 26 equipped with a camera 28, etc., that takes video or other images of the target location at a designated location, as shown in Figure 9, and a warning unit, etc., that sounds a buzzer or the like to warn suspicious persons. In security duties, the communication unit 22 can transmit the images taken by the work unit 24 to another terminal, such as a worker's computer, or receive instructions from another terminal, including the content to be monitored. The travel device 10 allows the work device 20 to travel along a designated route, take images of the surroundings, and perform warning actions at designated locations. Furthermore, the housing of the work unit 24 can be configured to rotate relative to the travel device 10, as will be described later.

[0034] (Water change operation) In the following description, a water change operation will be used as an example of the work performed by the work unit 24 of the construction robot 100 in this embodiment. In the following description, we will explain the case in which the control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the start of suction or drainage work, and the control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 corresponding to the completion of suction or drainage work. First, we will explain the case in which the status of the work device 20 is transmitted, and then we will explain the case in which the status of the work device 20 and the status of the travel device 10 are communicated.

[0035] [Table 1]

[0036] (When communicating the status of the work equipment) Table 1 shows the states of the travel unit 10 and the work device 20 when the work device 20 is performing a water change operation and transmitting its status. Before starting the water change operation, information regarding the work location is input to the control unit 11 of the travel unit 10. The travel unit 10 and the work device 20 are positioned at the starting point. First, the worker inputs the start of work to the control unit 11 of the travel unit 10. The tank is empty. The start of work can be done by pressing a button on the travel unit 10.

[0037] When the control unit 11 receives an input to start work, the traveling device 10 travels along a predetermined route (see Table 1, State A, and Figure 5). At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct the start of suction work. When the working device 20 receives a signal of "1" from the traveling device 10, the working unit 24 activates the suction unit 27 and closes the valve mentioned above. The working unit 24 operates so that the recovery tank in the mounting unit 26 is not full and, while traveling along the predetermined route, it activates the suction unit 27 to suck up water from the floor and store it in the mounting unit 26.

[0038] When the tank in the mounted unit 26 becomes full while traveling within a designated range, the control unit 21 transmits a "1" (tank full) signal to the communication unit 12 via the communication unit 22, indicating the completion of the suction operation. Upon receiving the signal, the traveling device 10 interrupts its travel within the designated range and moves to a pre-specified drainage position (see Table 1, State C, Figure 5).

[0039] The traveling device 10 stops when it arrives at the drainage location (see Table 1, State D). At this time, the control unit 11 transmits a "0" signal to the communication unit 22 via the communication unit 12 to instruct the start of the drainage work. When the working device 20 receives the "0" signal from the traveling device 10, the working unit 24 stops the operation of the suction unit 27 and opens the valve described above to drain the water contained in the mounting unit 26.

[0040] When the sensor detects that the water stored in the mounting unit 26 is empty, the control unit 21 transmits a "0" signal (tank empty) to the communication unit 12 via the communication unit 22, corresponding to the completion of the drainage operation (see Table 1, State B). As a result, the traveling device 10 returns to the point where it interrupted its travel and resumes traveling along the designated route (see Table 1, State A). At this time, the control unit 11 transmits a "1" signal to the communication unit 22 via the communication unit 12, instructing it to start the suction operation again. When the work device 20 receives the "1" signal from the traveling device 10, the work unit 24 activates the suction unit 27 and closes the valve described above. The traveling device 10 and the work device 20, which constitute the construction work robot 100, repeat the process of starting travel, changing the water, moving to the drainage position, draining, and moving to the water change route after draining until they reach the end point of the route (satisfying the completion condition). Also, as shown in Table 1, the next operation (state) of the work device 20 is determined based on the current operation (state) of the work device 20 and the traveling device 10. This also applies to the cleaning, transportation, concrete crack inspection, bolt tightening record keeping, and security work described later.

[0041] (When communicating the status of the work device and the travel device) Next, we will explain how the status of the work device 20 and the travel device 10 is communicated to the control device (not shown) during water change operations. Table 2 shows the status of the travel device 10 and the work device 20 when the status of the work device 20 and the travel device 10 are communicated during water change operations.

[0042] [Table 2]

[0043] Similarly, when the operator presses the button to start work, autonomous driving along the designated route based on location information begins. At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct the start of suction work. When the work device 20 receives the signal of "1" from the travel device 10, the work unit 24 activates the suction unit 27 and closes the valve. This causes the work unit 24 to start changing the water (see Table 2, State B). The work device 20 continues to suck water from the suction unit 27 until the loading unit 26 is full.

[0044] When the sensor detects that the mounting unit 26 is full, the control unit 21 transmits a "1" (tank full) signal to the communication unit 12 via the communication unit 22, indicating that the suction operation is complete. As a result, the work device 20 interrupts the water change operation, and the traveling device 10 interrupts its travel along the designated route and travels to the drainage location (see Table 2, State D).

[0045] Then, upon arriving at the drainage location, the traveling device 10 stops (see Table 2, State C). At this time, the control unit 11 transmits a "0" signal to the communication unit 22 via the communication unit 12 to instruct the start of the drainage operation. When the working device 20 receives the "0" signal from the traveling device 10, the working unit 24 stops the operation of the suction unit 27 and opens the valve to drain the water contained in the mounting unit 26. This starts the drainage operation of the working device 20. The drainage operation continues until the sensor detects that the mounting unit 26 is empty.

[0046] When the sensor detects that the mounting unit 26 is empty, the control unit 21 transmits a "0" signal (tank empty) to the communication unit 12 via the communication unit 22, corresponding to the completion of the drainage operation (see Table 2, State A). Once the mounting unit 26 is empty, the control unit 11 sends a "1" signal to the communication unit 22 via the communication unit 12, instructing it to start the suction operation. Upon receiving this signal, the traveling device 10 begins traveling along the designated route. The work device 20 resumes the water replacement operation upon receiving this signal (see Table 2, State B). When the mounting unit 26 is full, it drains the water at the drainage location as described above, and resumes the water replacement operation when it is empty. The traveling device 10 and work device 20, which constitute the construction work robot 100, repeat the cycle of starting to travel, replacing water, moving to the drainage location, draining, and moving to the water replacement route after draining until they reach the end of the route. The next operation (state) of the work device 20 is determined based on the current operation (state) of the work device 20 and the traveling device 10.

[0047] (Cleaning work) Next, we will describe the case where the work unit 24 performs cleaning work. In this case, the control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the start of suction work or waste disposal work, and the control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 corresponding to the completion of suction work or waste disposal work. First, we will explain the case where the status of the work device 20 is transmitted using Table 3, and then we will explain the case where the status of the work device 20 and the status of the travel device 10 are transmitted.

[0048] [Table 3]

[0049] (When transmitting the status of the work equipment) Table 3 shows the status of the mobile unit 10 and the work device 20 when transmitting the status of the work device 20 during cleaning work. Before starting cleaning work, information regarding the work location to be performed is input to the control unit 11 of the mobile unit 10. The mobile unit 10 and the work device 20 are located at the starting point. First, the worker inputs the start of work to the control unit 11 of the mobile unit 10. The tank is empty. The start of work can be done by the person in charge pressing a button on the mobile unit 10.

[0050] When the control unit 11 receives an input to start work, the traveling device 10 travels along a predetermined route (see Table 3, State A). At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct the start of suction work. When the working device 20 receives a signal of "1" from the traveling device 10, the working unit 24 activates the suction unit 27 and maintains the loading unit 26 in a horizontal position as described above. The working unit 24 operates the suction unit 27 to suck up debris from the floor and store it in the loading unit 26 while the loading unit 26 is not full and the working unit 24 is traveling along a predetermined route.

[0051] When the loading unit 26 becomes full while traveling within the designated area, the control unit 21 transmits a "1" (tank full) signal to the communication unit 12 via the communication unit 22, indicating that the suction operation is complete. Upon receiving the signal, the traveling device 10 interrupts its travel within the designated area and moves to a pre-designated waste disposal location (see Table 3, State C, Figure 6).

[0052] The traveling device 10 stops when it arrives at the waste disposal site (see Table 3, State D). At this time, the control unit 11 transmits a "0" signal to the communication unit 22 via the communication unit 12 to instruct the start of waste disposal work. When the working device 20 receives the "0" signal from the traveling device 10, the working unit 24 stops the operation of the suction unit 27 and tilts the loading unit 26 to discharge the waste contained in the loading unit 26 to the waste disposal site.

[0053] When the sensor detects that the waste contained in the loading unit 26 is empty, the control unit 21 transmits a "0" signal (tank empty) to the communication unit 12 via the communication unit 22, indicating that the waste disposal operation is complete (see Table 3, State B). As a result, the traveling device 10 returns to the point where it interrupted its movement and resumes traveling along the designated route (see Table 3, State A). At this time, the control unit 11 transmits a "1" signal to the communication unit 22 via the communication unit 12, instructing it to start the suction operation again. When the work device 20 receives the "1" signal from the traveling device 10, the work unit 24 activates the suction unit 27 and raises the work device 20 to a horizontal position. The traveling device 10 and work device 20, which constitute the construction work robot 100, repeat the process of traveling and cleaning, moving to the waste disposal location, disposing of the waste, and moving back to the cleaning start point after waste disposal until they reach the final point of the designated route (the completion condition is met). Furthermore, as shown in Table 1, the next operation (state) of the work device 20 is determined based on the current operation (state) of the work device 20 and the travel device 10.

[0054] (When communicating the status of the work device and the travel device) Next, we will explain how the status of the work device 20 and the travel device 10 are communicated to the management device during cleaning operations. Table 4 shows the status of the travel device 10 and the work device 20 when the status of the work device 20 and the travel device 10 are communicated during cleaning operations.

[0055] [Table 4]

[0056] Similarly to the above, when the operator presses the button to start work, the mobile device 10 begins autonomous travel along the designated route based on the location information. At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct the start of suction work. When the work device 20 receives the signal of "1" from the mobile device 10, the work unit 24 activates the suction unit 27 and raises the loading unit 26 to a horizontal position. As a result, the work unit 24 begins suctioning garbage (see Table 4, State B). The work device 20 continues to suction garbage from the suction unit 27 until the loading unit 26 is full.

[0057] When the sensor detects that the loading unit 26 is full, the control unit 21 transmits a "1" (tank full) signal to the communication unit 12 via the communication unit 22, indicating that the suction operation is complete. As a result, the work device 20 stops suctioning garbage, and the traveling device 10 stops traveling along the designated route and travels to the garbage disposal site (see Table 4, State D).

[0058] Then, upon arriving at the waste disposal site, the mobile unit 10 stops (see Table 4, State C). At this time, the control unit 11 transmits a "0" signal to the communication unit 22 via the communication unit 12, instructing it to start the waste disposal operation. When the work device 20 receives the "0" signal from the mobile unit 10, the work unit 24 stops the operation of the suction unit 27 and tilts the loading unit 26 to discharge the waste contained in the loading unit 26 to the waste disposal site. This starts the waste discharge operation of the work device 20. The discharge operation continues until the sensor detects that the waste contained in the loading unit 26 is empty.

[0059] When the sensor detects that the loading unit 26 is empty, the control unit 21 sends a "0" signal (tank empty) to the communication unit 12 via the communication unit 22, indicating that the waste disposal operation is complete (see Table 4, State B). Once the loading unit 26 is empty, the control unit 11 sends a "1" signal to the communication unit 22 via the communication unit 12, instructing it to start the suction operation, and the traveling device 10 begins traveling along the designated route. The work device 20 receives this signal and resumes suctioning the waste (see Table 4, State A). When the loading unit 26 is full, the waste is discharged at the waste disposal site in the same manner as above, and cleaning operations resume once it is empty. Travel, cleaning, movement to the waste disposal site, waste disposal, and movement to the cleaning start point after waste disposal by the traveling device 10 and work device 20, which constitute the construction work robot 100, are repeated until the final point of the designated route is reached. The next operation (state) of the work device 20 is determined based on the current operation (state) of the work device 20 and the traveling device 10.

[0060] (Transportation work) Next, we will explain the transport operation as an example of work performed by the work unit 24 of the construction robot 100. In the following explanation, we will describe the case where the control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the start of the unloading operation, and the control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 to indicate the completion of the unloading operation. First, we will explain the case where the status of the work device 20 is transmitted, and then we will explain the case where the status of the work device 20 and the status of the travel device 10 are transmitted.

[0061] [Table 5]

[0062] (When communicating the status of the work equipment) Table 5 shows the states of the travel device 10 and the work device 20 when the work device 20 is performing transport work and transmitting its status. Before starting transport work, information regarding the work location to be performed is input to the control unit 11 of the travel device 10. The travel device 10 and the work device 20 are located at the starting point. First, the worker inputs the start of work to the control unit 11 of the travel device 10. The loading unit 26 is in an unloaded state. The start of work can be input by the worker pressing a button on the travel device 10.

[0063] When the control unit 11 receives an input to start work, the travel device 10 travels along a predetermined route toward the loading position (see Table 5, State A, Figure 8).

[0064] When the traveling device 10 arrives at the loading position, the traveling device 10 stops (see Table 5, State B).

[0065] Next, the worker loads the cargo onto the loading unit 26. Once the sensor detects that cargo has been loaded onto the loading unit 26, the traveling device 10 moves toward the transport position (see Table 5, State C, Figure 8).

[0066] The traveling device 10 stops when it arrives at the transport position (see Table 5, State D). At this time, the control unit 11 transmits a signal "1" to the communication unit 22 via the communication unit 12 to instruct the start of unloading work. As a result, the lamp installed on the loading unit 26 lights up, and the worker in the work device 20 unloads the cargo from the loading unit 26.

[0067] When the sensor detects that the load has been removed from the loading unit 26, the control unit 21 transmits a "0" (empty load) signal to the communication unit 12 via the communication unit 22, corresponding to the completion of the unloading operation (see Table 5, State B). As a result, the traveling device 10 moves again toward the loading position (see Table 5, State A). The traveling device 10 and the working device 20 that constitute the construction work robot 100 repeat the process of moving toward the loading position, loading the load and waiting for a signal, moving toward the transport position, unloading the load and waiting for a signal until all the load has been unloaded at the transport position (the completion condition is met).

[0068] (When communicating the status of the travel device in addition to the status of the work device) Next, we will explain how to communicate the status of the work device 20 and the travel device 10 to the management device during transport operations. Table 6 shows the status of the work device 20 and the travel device 10 when the work device 20 performs transport operations and transmits the status of the travel device 10 in addition to the status of the work device 20.

[0069] [Table 6]

[0070] Similarly, when the person in charge presses the button to start the work, the travel device 10 moves toward the loading position based on the location information (see Table 6, State B).

[0071] When the traveling device 10 arrives at the loading position, the traveling device 10 stops (see Table 6, State A). Next, the worker loads the cargo onto the loading section 26.

[0072] When the sensor detects that cargo has been loaded into the loading section 26, the traveling device 10 moves toward the transport position (see Table 6, State D).

[0073] Upon arriving at the transport position, the traveling device 10 stops (see Table 6, State C). At this time, the control unit 11 transmits a signal "1" to the communication unit 22 via the communication unit 12 to instruct the start of unloading work. As a result, the lamp installed on the loading unit 26 lights up, and the worker in the work device 20 unloads the cargo from the loading unit 26.

[0074] When the sensor detects that the load has been removed from the loading unit 26, the control unit 21 transmits a "0" (empty load) signal to the communication unit 12 via the communication unit 22, corresponding to the completion of the unloading operation (see Table 6, State A). As a result, the traveling device 10 moves back to the loading position (see Table 6, State B). The traveling device 10 and the working device 20 that constitute the construction work robot 100 repeat the process of moving to the loading position, loading the load and waiting for a signal, moving to the transport position, unloading the load and waiting for a signal until all the loads have been loaded and unloaded at the transport position.

[0075] (Concrete crack investigation) Next, we will describe the case in which the work unit 24 of the construction robot 100 performs a concrete crack inspection. In the following description, we will explain the case in which the control unit 11 sends a signal to the communication unit 22 via the communication unit 12 to instruct it to start taking pictures, and the control unit 21 sends a signal to the communication unit 12 via the communication unit 22 to indicate that the pictures have been taken. First, we will explain the case in which the status of the work device 20 is transmitted, and then we will explain the case in which the status of the work device 20 and the status of the travel device 10 are communicated.

[0076] [Table 7]

[0077] (When transmitting the status of the work equipment) Table 7 shows the status of the travel device 10 and the work device 20 when transmitting the status of the work device 20 during a crack inspection. When starting a concrete crack inspection, information regarding the work location is entered into the control unit 11 of the travel device 10. Also, the travel device 10 and the work device 20 are located at the starting point. First, the worker inputs the start of work into the control unit 11 of the travel device 10. At this point, no images related to the crack inspection have been uploaded. The input to start work can be done by pressing a button on the travel device 10.

[0078] When the control unit 11 receives an input to start work, the travel device 10 travels along a predetermined route toward the next shooting position (see Table 7, State A).

[0079] When the vehicle arrives at the next shooting position, the travel device 10 stops (see Table 7, State B). At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct it to start shooting.

[0080] In the work device 20, upon receiving a "1" signal from the travel device 10, the work unit 24 uses the camera 28 to photograph the concrete cracks (see Table 7, State D). Once the photography is complete, the control unit 21 transmits a "0" (stop) signal to the communication unit 12 via the communication unit 22, indicating that the photography is complete.

[0081] Next, the work device 20 performs the task of uploading the image taken at the shooting position (see Table 7, State C).

[0082] Once the uploaded data has been captured, the mobile unit 10 moves toward the next shooting location (see Table 7, State A). Upon arriving at the shooting location, the mobile unit 10 stops and the control unit 11 transmits a "1" (shoot) signal to the communication unit 22 via the communication unit 12, instructing it to start shooting. In response, the camera 28 of the work unit 24 takes a picture at the next shooting location (see Table 7, State D). The mobile unit 10 and work unit 20, which constitute the construction work robot 100, repeat the cycle of shooting, starting to move and uploading data, and moving toward the next shooting location until shooting is completed at all shooting locations (the completion condition is met).

[0083] (When communicating the status of the travel device in addition to the status of the work device) Next, we will explain how to transmit the status of the work device 20 and the travel device 10 to the management device during concrete crack repair work. Table 8 shows the status of the travel device 10 and the work device 20 when transmitting the status of the work device 20 and the travel device 10 during concrete crack inspection.

[0084] [Table 8]

[0085] Similarly, when the operator presses the button, the driving device 10 starts autonomous driving along the specified route based on the location information (see Table 8, State B).

[0086] When the traveling device 10 arrives at the next shooting position, the traveling device 10 stops (see Table 8, State A).

[0087] When the traveling device 10 and the working device 20 arrive at the shooting position and stop, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct it to start shooting. In response, the camera 28 of the working unit 24 takes a picture of the cracked area and uploads it (see Table 8, State C).

[0088] Next, while the crack locations are being measured, the traveling device 10 moves towards the next shooting position (see Table 8, State D).

[0089] Once the work unit 24 has finished, the control unit 21 transmits a "0" (stop) signal to the communication unit 12 via the communication unit 22, indicating that the shooting is complete (see Table 8, State B).

[0090] When the traveling device 10 arrives at the next shooting position, the traveling device 10 stops (see Table 8, State A). When the traveling device 10 and the working device 20 arrive at the shooting position and stop, the control unit 11 transmits a signal of "1" to the communication unit 12 via the communication unit 12 to instruct it to start shooting. In response, the camera 28 of the working unit 24 takes a picture and uploads the data at the next shooting position (see Table 8, State C). The traveling device 10 and the working device 20, which constitute the construction work robot 100, repeat the process of traveling, taking pictures and uploading data, moving to the next shooting position, etc., until shooting is completed at all shooting locations.

[0091] (Recording of bolt fastening points) Next, we will describe the case where the work unit 24 of the construction robot 100 performs a recording task on the bolt tightening portion. In the following description, we will explain the case where the control unit 11 sends a signal to the communication unit 22 via the communication unit 12 to instruct the start of shooting, and the control unit 21 sends a signal to the communication unit 12 via the communication unit 22 to indicate the completion of shooting. First, we will explain the case where the status of the work device 20 is transmitted, and then we will explain the case where the status of the work device 20 and the status of the travel device 10 are communicated.

[0092] [Table 9]

[0093] (When communicating the status of the work equipment) Table 9 shows the states of the travel device 10 and the work device 20 when the work device 20 records bolt tightening work and transmits its status. When recording the bolt tightening work begins, information regarding the work position to start the work is input to the control unit 11 of the travel device 10. Also, the travel device 10 and the work device 20 are located at the starting point of travel. First, the worker inputs the start of work to the control unit 11 of the travel device 10. At this point, the images to record the bolt tightening work have not yet been uploaded. The input to start work can be made by pressing a button on the travel device 10.

[0094] When the control unit 11 receives an input to start work, the travel device 10 travels along a predetermined route toward the next shooting position (see Table 9, State A).

[0095] When the vehicle arrives at the next shooting position, the travel device 10 stops (see Table 9, State B). At this time, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct it to start shooting.

[0096] When the work device 20 receives a "1" signal from the travel device 10, the work unit 24 uses the camera 28 to take a photograph to record the bolt tightening area (see Table 9, State D). Once the photographing is complete, the control unit 21 transmits a "0" signal to the communication unit 12 via the communication unit 22, indicating that the photographing is complete.

[0097] The traveling device 10 stays at a shooting location for a predetermined time before moving toward the next shooting location. At this time, the working device 20 performs the task of uploading the images taken at the shooting location (see Table 9, State C).

[0098] Once the uploaded captured data is complete, the traveling device 10 moves toward the next shooting position (see Table 9, State A). Upon arriving at the next shooting position, the traveling device 10 stops. The control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct it to start shooting, and the camera 28 of the work unit 24 takes a picture at the next shooting position (see Table 9, State D). The traveling device 10 and work unit 20, which constitute the construction work robot 100, repeat the process of shooting, starting to move and uploading data, and moving toward the next shooting position until all shooting positions have been visited (the termination condition is met).

[0099] (When communicating the status of the travel device in addition to the status of the work device) Next, we will explain the case in which the status of the work device 20 and the status of the travel device 10 are transmitted to the management device during the bolt tightening portion recording operation. Table 10 shows the status of the travel device 10 and the work device 20 when the work device 20 is performing the bolt tightening portion recording operation and the status of the work device 20 and the travel device 10 are communicated.

[0100] [Table 10]

[0101] Similarly, when the operator presses the button, the driving device 10 starts autonomous driving along the specified route based on the location information (see Table 10, State B).

[0102] When the traveling device 10 arrives at the next shooting position, the traveling device 10 stops (see Table 10, State A).

[0103] When the traveling device 10 and the working device 20 arrive at the shooting position and stop, the control unit 11 transmits a signal of "1" to the communication unit 22 via the communication unit 12 to instruct it to start shooting. In response, the working device 20 uses the camera 28 to take pictures to record the bolted area (see Table 10, State C).

[0104] Next, while the bolt tightening section is being measured, the traveling device 10 moves toward the next shooting position (see Table 10, State D).

[0105] Once the work unit 24 has finished its operation, the control unit 21 transmits a "0" (stop) signal to the communication unit 12 via the communication unit 22, indicating that the shooting is complete (see Table 10, State B).

[0106] When the traveling device 10 arrives at the next shooting position, the traveling device 10 stops (see Table 10, State A). When the traveling device 10 and the working device 20 arrive at the shooting position and stop, the control unit 11 sends a signal of "1" to the communication unit 22 via the communication unit 12 to instruct the start of shooting, and the camera 28 of the working unit 24 takes a picture at the next shooting position (see Table 10, State C). The traveling device 10 and the working device 20, which constitute the construction work robot 100, repeat the process of traveling, taking pictures and uploading data, moving to the next shooting position, etc., until shooting is completed at all shooting locations.

[0107] (security) Next, we will describe the case where security work is performed as an operation by the work unit 24 of the construction work robot 100. In the following, we will describe the case where the control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the start of security, and the control unit 21 transmits a signal to the communication unit 12 via the communication unit 22 to indicate the end of security. First, we will describe the case where the status of the work device 20 is transmitted, and then we will describe the case where the status of the work device 20 and the status of the travel device 10 are communicated.

[0108] [Table 11]

[0109] (When communicating the status of the work equipment) Table 11 shows the states of the mobile device 10 and the mobile device 20 when the mobile device 20 is performing security duties and transmitting the status of the mobile device 20. When the person in charge presses a button, the work unit 24 activates the camera 28 and the mobile device 10 travels along the designated route (see Table 11, State A). When security is required at a predetermined location, the mobile device 10 receives instructions from another terminal, and the control unit 11 transmits a "1" signal to the communication unit 12 via the communication unit 12 to instruct it to start security. The mobile device 10 travels to the designated location while the work unit 24 photographs the surroundings with the camera 28 (see Table 11, State C). Upon arriving at the designated location, the mobile device 10 stops traveling, and the work unit 24 performs security actions such as rotating and using a buzzer to monitor the surroundings (see Table 11, State D). When the security operation is completed, the control unit 21 transmits a "0" signal to the communication unit 12 via the communication unit 22, indicating that security is complete. The work unit 24 then waits in place for the next signal input (see Table 11, State B). When a new input signal is received, the travel device 10 resumes traveling along the designated route (see Table 11, State A). The travel device 10 and work device 20, which constitute the construction work robot 100, repeat operations (states) such as taking pictures with the camera 28, acquiring position information, rotating and buzzer operation, and waiting for input signals until they reach the final point of the designated route (the termination condition is met).

[0110] (When communicating the status of the travel device in addition to the status of the work device) Next, we will explain the case in which the status of the work device 20 and the status of the travel device 10 are transmitted to the management device during security work. Table 12 shows the status of the travel device 10 and the work device 20 when the work device 20 is performing security work and the status of the travel device 10 is transmitted in addition to the status of the work device 20.

[0111] [Table 12]

[0112] Similarly, when the operator presses the button, the camera 28 of the work unit 24 is activated and the travel device 10 begins to travel along the designated route (see Table 12, State B; see Figure 12). If the travel device 10 receives instructions from another terminal, the control unit 11 sends a "1" signal to the communication unit 22 via the communication unit 12 to instruct it to start security. The travel device 10 then proceeds to the designated security location (see Table 12, State D). Upon arrival at the security location, the construction work robot 100 performs security by rotating and sounding a buzzer (see Table 12, State C). Once the security operation is complete, the control unit 21 sends a "0" signal to the communication unit 12 via the communication unit 22 to indicate that security is complete. The travel device 10 then resumes traveling along the designated route and waits for the next signal to be received (see Table 12, State B). The traveling device 10 and working device 20, which constitute the construction robot 100, repeat operations (states) such as taking pictures with the camera 28, acquiring position information, rotating, and waiting for input signals until they reach the final point of the designated route.

[0113] [Mechanism of Action and Effects] Next, the effects of the construction robot 100 according to the above-described embodiment will be explained. In this embodiment, the traveling device 10 is configured to be able to travel autonomously based on position information, and the work device 20 is configured to be movable by the traveling device 10. The traveling device 10 has a communication unit 12 and a control unit 11 that controls the communication unit 12. The work device 20 has a work unit 24 that can perform a predetermined task, a communication unit 22 that can communicate with the communication unit 12, and a control unit 21 that controls the communication unit 22. The control unit 11 transmits a signal to the communication unit 22 via the communication unit 12 to instruct the work unit 24 to start a predetermined task, depending on the work status of the work unit 24 and the travel status of the traveling device 10. The control unit 21 is configured to transmit a signal to the communication unit 12 via the communication unit 22 corresponding to the completion of a predetermined task. Furthermore, the control unit 11 and the control unit 21 are configured not to transmit signals that affect control, except for the start and completion of a predetermined task, to each other. By configuring the device as described above, communication information between the traveling device 10 and the working device 20 is simplified, and the number of communications is reduced, making it easy to combine devices with different standards and specifications.

[0114] Furthermore, the work device 20 and the travel device 10 are configured to perform one of the operations sequentially to carry out a predetermined task. The next operation in the multiple operations performed by the work device 20 and the travel device 10 is determined based on the current operation (state) of the work device 20 and the travel device 10. By configuring it in this way, the next operation of the travel device 10 or the work device 20 can be determined in a single step while keeping the communication information between the travel device 10 and the work device 20 relatively simple.

[0115] Furthermore, as shown in Figure 3, the work device 20 has a vehicle section 25 that can be connected to the travel device 10 and on which the work unit 24 can be mounted. The area of ​​the bottom surface of the work unit 24 is smaller than the area of ​​the top surface of the vehicle section 25. In addition, the travel device 10 can travel with the work device 20 loaded, and the area of ​​the bottom surface of the work unit 24 is smaller than the area of ​​the top surface of the travel device 10. By making the area of ​​the work unit 24 smaller than the area of ​​the top surface of the vehicle section 25 or the travel device 10 in this way, the work unit 24 can be replaced and work can be performed.

[0116] Furthermore, the traveling device 10 and the working device 20 are configured to have independent power supplies (see Figure 1). By separating the power supply systems for the traveling device 10 and the working device 20 without sharing a power supply, the functions of the traveling device 10 and the working device 20 are separated, improving the convenience of having a replaceable working device 20.

[0117] The control unit 11 of the traveling device 10 controls autonomous driving, and the control unit 21 of the working device 20 controls the working unit 24 to perform predetermined tasks (see Figure 1). With this configuration, the control unit 11 of the traveling device 10 only needs to control autonomous driving, and the control unit 21 of the working device 20 only needs to control predetermined tasks, allowing each function to be independent.

[0118] In the above explanation, when the work device 20 performs water replacement work, it is shown in Figure 3 that the work device 20 is towed by the travel device 10. However, the work device 20 may also be configured to be towed by the travel device 10 in other operations besides water replacement, such as cleaning, transport, concrete crack inspection, bolt tightening section recording, and security. [Explanation of Symbols]

[0119] 10. Traveling device 11 Control Unit (First Control Unit) 12. Communications Department (1st Communications Department) 13 Power supply section 20 Working equipment 21 Control Unit (Second Control Unit) 22 Communications Department (2nd Communications Department) 23 Power supply section 24 Work Unit 25 Vehicle Department

Claims

1. A construction work robot comprising a traveling device capable of autonomous movement based on location information, and a work device configured to be movable by the traveling device, The aforementioned traveling device is First Communications Department and, It includes a first control unit that controls the first communication unit, The aforementioned work apparatus is A work unit capable of performing a predetermined task, A second communication unit that can communicate with the first communication unit, It includes a second control unit that controls the second communication unit, The first control unit transmits a signal to the second communication unit via the first communication unit to instruct the work unit to start the predetermined work to be performed, according to the working state of the work unit and the traveling state of the traveling device. The second control unit transmits a signal corresponding to the completion of the predetermined operation to the first communication unit via the second communication unit. A construction robot in which the first control unit and the second control unit do not transmit signals to each other that affect control, except for the start and completion of the predetermined work.

2. The work device and the travel device are configured to perform any of the operations in sequence to carry out the predetermined work. The construction robot according to claim 1, wherein the next operation in a plurality of operations performed by the work device and the travel device can be determined based on the current operation of the work device and the travel device.

3. The work device has a vehicle section that can be connected to the traveling device and on which the work unit can be mounted, The construction robot according to claim 1, wherein the area of ​​the bottom surface of the work section is smaller than the area of ​​the top surface of the vehicle section.

4. The aforementioned traveling device is capable of traveling with the aforementioned working device loaded on it. The construction robot according to claim 1, wherein the area of ​​the bottom surface of the work section is smaller than the area of ​​the top surface of the traveling device.

5. The construction robot according to claim 1, wherein each of the traveling device and the working device is provided with an independent power supply.

6. The first control unit controls autonomous driving, The construction robot according to claim 1, wherein the second control unit controls the work unit to perform the predetermined work.

Images