Marking robot system and control method for marking robot system

Abstract

To provide an improved marking robot system capable of executing a marking print of marking print content edited to be easily operated by an operator.SOLUTION: A marking robot system 1 comprises a marking robot 10 for executing a marking print by a printer on the basis of marking information, a tracking type three-dimensional measurement instrument 20 for measuring a position of the marking robot, and a control operation unit 30 for controlling the marking robot. The marking information to be stored at the marking robot consists of basic marking information and editable information corresponding to the basic marking information. The control operation unit displays an editing screen for editing the editable information on the basis of the marking information, and an operator operates the editing screen. The control operation unit 30 generates the marking information customized on the basis of the operation result and transmits it to the marking robot 10. The marking robot 10 executes the marking print by the customized marking information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a marking robot system and a control method for a marking robot system. [Background technology]

[0002] In recent years, there has been a growing trend at construction sites to use robots to automate tasks such as marking, which previously could only be performed by skilled workers. A marking robot system that automatically performs such marking is disclosed in, for example, Patent Document 1 (JP 2019-31901 A).

[0003] This patent document 1 discloses a marking robot system in which a printing means (printer) is provided on a movable body capable of two-dimensional movement, and a control means is provided that moves the movable body to a marking printing position (marking point) based on the measured position of the movable body measured by a three-dimensional measurement means, and supplies control information for marking to the printing unit (printer).Furthermore, this patent document 1 discloses that the movable body is equipped with an actuator that can move two-dimensionally and a printer that is rotatably installed on the actuator, and that it is possible to print the length of the ink line to be printed at the marking position, as well as the ink line in any direction and attribute information for the ink line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-31901 A Summary of the Invention [Problem to be solved by the invention]

[0005] Previously, skilled workers would modify the markings (lines, shapes, wording, etc.) as needed depending on the equipment being installed in the building, making the markings easy to understand for the workers installing the equipment and preventing human error. In other words, construction work involves installing a variety of equipment, such as the anchor positions for the equipment to be installed, the anchor positions for ceiling-mounted equipment, and the locations of electrical and air conditioners. When skilled workers performed markings, they would add or modify the markings, shapes, wording, etc. depending on the equipment being installed, making the markings easy for the workers to understand, and then printing out markings that were easy for the workers installing the equipment.

[0006] In contrast, conventional marking robot systems (for example, Patent Document 1) mark out and print in a certain format at a certain fixed location, and do not have a function that allows an operator (worker) on-site to easily customize the marking content as needed (a function for editing, such as adding or changing). In other words, the marking content is printed based on preset marking information, and the operator cannot customize the print content to make it more user-friendly.

[0007] Therefore, the present invention aims to improve the marking robot system so that marking printing can be performed by editing the marking printing content to make it easier for the operator (worker) to work with, rather than performing marking printing in a uniform manner, thereby enabling marking to be performed in shapes and wording that are closer to those previously performed by skilled workers. [Means for solving the problem]

[0008] One example of the present invention is a marking robot system comprising: a marking robot having a printer that performs marking printing, an actuator on which the printer is attached and which enables the printer to move, a mobile body that moves while carrying the printer and the actuator, and a main body controller that controls the printer, the actuator, and the mobile body; a tracking three-dimensional surveying instrument that measures the position of the marking robot and sends the position measurement results to the main body controller; and a control operation unit that instructs the main body controller to perform marking processing by sending and receiving information to the main body controller.The main body controller has a function for sending and receiving information between the tracking three-dimensional surveying instrument and the control operation unit, and stores the marking information that is made up of basic marking information and editable information that corresponds to the basic marking information.The control operation unit imports the marking information and displays an editing screen on which an operator can edit the editable information, and generates customized marking information based on the operation results on the editing screen and sends the customized marking information to the main body controller.The main body controller performs the marking printing using the customized marking information.

[0009] Another example of the present invention is a control method for a marking robot system that includes a marking robot that is mounted on a mobile body and that uses the printer to mark out and print based on marking information, a tracking three-dimensional measuring device that measures the position of the marking robot, and a control operation unit that transmits information to control the marking robot, wherein the marking information is composed of basic marking information and editable information that corresponds to the basic marking information, an editing screen is displayed on the control operation unit based on the marking information, the control operation unit generates customized marking information based on the operation results of the editing screen, and the marking robot performs the marking printing using the customized marking information. [Effects of the Invention]

[0010] According to the present invention, customized marking information is generated in the control operation unit, and marking printing is performed using this customized marking information, so that marking printing that reflects the operator's intentions can be performed. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of a marking robot system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram illustrating a schematic configuration of a marking robot. [Figure 3] 10 is an example of image-attached information to be installed in a marking robot together with an image of a marking type. [Figure 4A] FIG. 10 is a diagram showing an example of an edit screen for customizing marking printing. [Figure 4B] FIG. 10 is a diagram showing an example of an edit screen for customizing marking printing. [Figure 4C] FIG. 10 is a diagram showing an example of an edit screen for customizing marking printing. [Figure 5] FIG. 10 is a diagram showing a specific example of the contents of the inked printout. [Figure 6] 10 is a flowchart showing the flow of an operation for marking and printing in the embodiment. [Figure 7] FIG. 10 is an explanatory diagram of marking out near a wall. [Figure 8] 10 is a flowchart showing an operation flow when marking and printing near a wall. [Figure 9] FIG. 10 is a diagram showing an example of a marking point selection screen for a contractor who wants to give priority to marking when marking. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following describes in detail the embodiments (examples) using the drawings. Note that the present invention should not be construed as being limited to the following description of the examples. In other words, those skilled in the art will readily understand that the configuration can be modified without departing from the technical concept or spirit of the present invention. In the configurations of the examples described below, the same reference numerals are used for identical devices and components having similar operations or functions, and redundant descriptions may be omitted. The positions, sizes, shapes, and ranges of each component shown in the drawings are intended to facilitate understanding of the present invention and do not represent the actual positions, sizes, shapes, and ranges of each component. Furthermore, only brief descriptions are provided for parts that are not closely related to the operation of the present invention (e.g., the detailed configuration of the moving body of the marking robot and the detailed positioning operation).

[0013] First, the configuration of a marking robot system according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a diagram showing the configuration of a marking robot system according to an embodiment of the present invention. Figure 2 is a diagram showing the schematic configuration of a marking robot.

[0014] As shown in Figure 1, the marking robot system 1 in this embodiment of the present invention is made up of a marking robot 10, a tracking three-dimensional measuring device 20 that measures the position of the marking robot, and a control operation unit 30. The control operation unit 30 can send and receive information to the marking robot 10 and the tracking three-dimensional measuring device 20, and creates customized marking information based on the marking information from the marking robot 10 and sends it to the marking robot 10. The marking robot 10 performs marking printing according to the customized marking information.

[0015] Next, the schematic configuration of the marking robot 10 will be described with reference to Figure 2. The marking robot 10 is a robot that is deployed, for example, at construction sites for buildings or civil engineering sites for roads, and automatically performs marking and printing. The marking robot 10 travels autonomously using position information from a tracking three-dimensional measuring device 20 in response to operational commands from the user, moves to a predetermined marking point (marking and printing position), and performs marking and printing according to the marking information using its own printer.

[0016] 2, the marking robot 10 is equipped with a main body control unit 11 that stores "marking information," which is information for marking and printing, and controls the entire marking robot 10. The marking robot 10 also has a printer 12 that performs marking and printing under the control of the main body control unit 11, a mobile body 13 that moves the entire marking robot 10, and an actuator 14 that is installed on the mobile body and moves the printer 12 in two dimensions (X-Y plane). The marking robot 10 also has a measurement target 15 that is installed on this actuator 14 and whose position is measured by a tracking three-dimensional measuring device 20.

[0017] An information device having the functions of a normal computer is used for the main body control unit 11. That is, the main body control unit 11 includes a memory unit that stores a control program for controlling the entire marking robot 10, marking information, and information required for operation, a transmitter / receiver unit that transmits and receives information to and from the control operation unit 30, and an arithmetic processing unit that positions the marking robot and printer at the marking position in accordance with the control program and drives the printer to print markings according to the marking information. Note that detailed descriptions of the configurations and operations of the memory unit, transmitter / receiver unit, and arithmetic processing unit will be omitted.

[0018] The moving body 13 is composed of a frame 131, a drive unit 132 attached below the frame 131 for moving the moving body 13, and tires 133 for moving by the driving force of the drive unit 132. The detailed configuration of the moving body in such a marking robot is publicly known (for example, Patent Document 1), and a detailed description thereof will be omitted.

[0019] The actuator 14 is placed on the moving body 13, with the printer 12 attached below, and the printer 12 is moved to the marking printing position and positioned under the positioning control of the main body control unit 11. The actuator 14 in this embodiment not only moves the printer 12 in the two-dimensional X and Y directions, but is also movable in the Z direction to position the printer's print head at a position suitable for printing on the marking surface (floor, wall, ceiling) during marking printing.

[0020] In such a configuration, the positioning of the marking robot 10 can be achieved by the main body control unit 11 performing position control to move the marking robot 10 to the marking point based on the marking position (target printing position) included in the marking information and the measured position of the marking robot 10 from the tracking type three-dimensional measuring device 20, and by executing positioning control to position the printer 12 to the marking point (marking printing position) with high precision using the actuator 14. A detailed description of this positioning control will be omitted.

[0021] The tracking three-dimensional measuring device 20 in this embodiment is a surveying instrument that uses a laser to track a measurement target 15 attached to the marking robot 10 and measures the position of the measurement target 15 in three-dimensional space, i.e., the position of the marking robot 10, using reflected light from the measurement target. The tracking three-dimensional measuring device 20 can accurately measure the position of the marking robot 10 by measuring the position of the measurement target 15 when the measurement target 15 is attached to the marking robot 10. Note that the tracking three-dimensional measuring device is not limited to one that uses laser light, and any device that can measure the position of the marking robot can be used. The position of the marking robot 10 measured by the tracking three-dimensional measuring device 20 is transmitted to the main body control unit 11 for use in controlling (positioning) the movement of the marking robot 10 to the marking position. The position is also transmitted to the control operation unit 30 as necessary, based on command information from the control operation unit 30.

[0022] The control operation unit 30 is a terminal that transmits and receives information between the marking robot 10 and the tracking 3D measuring device 20 and controls the operations of the marking robot 10 and the tracking 3D measuring device 20. Furthermore, the control operation unit 30 in this embodiment of the present invention has a function of editing (customizing) the marking information through operation by the operator on the control operation unit 30 side, based on the marking information received from the main body control unit 11. Therefore, the control operation unit 30 transmits and receives information to and from the main body control unit 11, and can share the marking information with the main body control unit 11. Furthermore, the control operation unit 30 has a function of importing "basic marking information," which is the basic marking information in the "marking information," and "editable information" for customization, and displaying an editing screen for operation by the operator, and an operation function for the operator to perform selection operations using the editing screen.

[0023] A known tablet terminal device having a touch panel integrated with the screen display can be used as the control operation unit 30, which has the function of displaying information on such a screen and enabling the operator to perform selection operations. Therefore, the following description will be given assuming that the control operation unit 30 in this embodiment is a known tablet terminal device. Note that, in addition to a tablet terminal device, the control operation unit 30 can also be a terminal such as a portable personal computer (PC) or a smartphone.

[0024] Next, the configuration of marking information in the embodiment of the present invention will be described with reference to FIG. First, FIG. 3 shows an example of editable information (information that can be printed in addition to the basic information) downloaded to the marking robot 10 along with the basic marking information of the marking information. This editable information can be written in a configuration file such as CSV (Comma-Separated Values) or JSON (Java Script Object Notation). A storage medium (not shown) on which the marking information is recorded can be inserted into the main body control unit 11, and the marking information can be downloaded via this storage medium. Alternatively, the marking information recorded on the storage medium can be downloaded via wireless communication technology (for example, "Bluetooth"). Note that Bluetooth is a registered trademark.

[0025] In FIG. 3 , "File Name" 301 indicates the name of the image file for the marking type. "Long Text" 302 indicates the name displayed when selecting an image file for the marking type. "Direction" 303 indicates arrow editing information indicating whether to superimpose an arrow image onto the image for the marking type. For example, this can be set for each type of image for the marking type, such as 0 indicating no direction selection, 1 indicating only direction selection, and 2 indicating direction selection. "Input Name" 304 indicates information indicating whether to superimpose text onto the image for the marking type. For example, this can be set for each type of image for the marking type, such as 0 indicating no addition and 1 indicating addition. "Priority" 305 indicates which of the lines of the text and the background image (basic marking image) should be prioritized when they overlap. For example, 0 indicates line priority, and 1 indicates text priority, allowing you to select which you want to emphasize. "Rotation" 306 indicates information indicating whether to rotate the image when marking. For example, you can set the rotation of the image when marking out, where 0 is no rotation and 1 is rotation.

[0026] Next, we will explain how the operator edits (customizes) the marking information based on the marking information (consisting of basic marking information and editable information) using the control operation unit 30. First, the marking robot 10 (more specifically, the main body control unit 11) downloads "marking information" for executing marking printing created by an external device (not shown). In this embodiment, the "marking information" includes not only the basic "basic marking information" but also "editable information" that corresponds to the basic marking information and allows the operator to operate the control operation unit 30 to add printing information.

[0027] In addition to the method described above, downloading marking information including basic marking information and editable information may also be performed by, for example, downloading marking information stored in an external device such as an external cloud system via a communication network such as the Internet.

[0028] The control operation unit 30 inputs marking information including editable information from the main body control unit 11. The operator performs editing by operating an "editing screen" for marking editing operations displayed on the screen of the control operation unit 30. The control operation unit 30 in this embodiment allows editing to be easily performed by selection operations using the editing screen (selection operations on selection sections such as check boxes). Furthermore, the control operation unit 30 in this embodiment can change the size of the print content (enlarge or reduce it) by operating the editing screen. Specific examples of editing screens used for such editing operations and specific editing methods (customization methods) using the editing screen will be described later.

[0029] Furthermore, the control operation unit 30 in this embodiment has a function of adding an image captured by a camera as part of the editable information. That is, an image of a comment (characters, symbols, marks, etc.) that you want to add for customization is captured with the built-in camera and imported as image information. Then, by performing a process of adding the imported image information to part of the editable information, it can become part of the editable information.

[0030] For ease of understanding, the following description will be given assuming that the sending and receiving of marking information between the main body control unit 11 and the control operation unit 30 is performed each time a customization operation for each piece of marking information is performed on the control operation unit 30. However, the present invention is not limited to such a method, and it is also possible to send all or a certain amount of marking information to be customized from the main body control unit 11 to the control operation unit 30 at the start of customization, and then send the customized marking information from the control operation unit 30 to the main body control unit 11 when customization of the marking information is completed.

[0031] Next, an example of an edit screen will be used to explain the edit operation (customization method) in the control operation unit 30. Specific examples of the edit screen for performing this edit work are shown in Figs. 4A to 4C.

[0032] First, screen 501 shown in Fig. 4A is an editing screen that displays an image to be printed using the basic marking information and is used to add an "arrow" to the basic marking print content. Screen 501 in Fig. 4A includes an input section 51 for inputting the marking information to be edited, a guidance display section 52 that prompts the user to take action, a display section 53 that displays a basic marking image 54 based on the basic marking information, a shape list display section 55, a check box 56 for selecting whether or not to execute printing that adds an arrow, a back display 57 that returns to the previous screen, and a decision button 58 that determines whether to execute editing (in this example, adding an arrow).

[0033] That is, screen 501 is an example of a screen for selecting a marking image (background image) that will be the basis for marking and editing the printing of an "arrow." It is also possible to display an image set in image file name 301 (File Name) shown in FIG. 3 in the preview position. Furthermore, the list of shapes can display text set in name 302 (Long Text) shown in FIG. 3, making it possible to display text that is easy for the operator to understand. Check box 56 for direction selection refers to arrow edit information 303 (Direction) shown in FIG. 3. When arrow edit information 303 is 0 (direction unselectable), the check box is hidden; when it is 1 (direction only), the check box 56 cannot be changed from its checked state; and when it is 2 (direction selectable), the operator can select whether to check or uncheck check box 56.

[0034] Next, screen 502 in FIG. 4A is an example of an editing screen for adding an arrow print, and is the editing screen to which the operator transitions when check box 56 in FIG. 4A is checked and OK 58 is operated. In screen 502, reference numeral 59 denotes a check box for selecting the direction of the arrow. The operator checks one or more of the check boxes from up, down, left, and right shown in check boxes 59. Note that in this example, an example of a check box for selecting up, down, left, and right is shown, but another direction, such as a diagonal direction, may also be selected. This selection (checking the check box) determines the direction in which the arrow will be printed. If the operator is satisfied with the checked contents, he or she operates OK 60.

[0035] This operation allows the control operation unit 30 to create not only basic marking information, but also information that adds an "arrow" in a direction determined by the operator. In other words, customized marking information can be created by adding an arrow in a predetermined direction to the basic marking information. This customized marking information (in this case, the marking information with the added arrow) is sent to the main body control unit 11. The main body control unit stores this customized marking information, and can position the marking robot at a predetermined marking position according to the customized marking information and drive the printer 12 to execute marking printing.

[0036] Next, FIG. 4B shows an example of an editing screen when further comments such as text are printed on the basic marking information. When a name input 61 is entered on screen 503 of FIG. 4B, the marking image information corresponding to that name is read out, and the comment can be entered in comment column 62. In this example, the text "outlet" is entered as a comment. Check box 63 is used when a comment is also entered below. The comment to be printed (in this example, the text "from ◯ to ▲▲ mm" is entered as a comment to be printed below) is entered in comment column 64 below. If only a comment is to be entered (printed) above, the lower comment column 64 is not used. Also, by checking check box 63 for automatically entering the distance from the reference center, the distance can be automatically calculated from the drawing data. If the operator determines that there is no problem with the editing content on screen 503, he or she operates decision 58. As a result, the control operation unit 30 adds the further entered text to the basic marking information. It is possible to create customized marking information with added comments. The customized marking information (in this case, marking information with comments) is sent to the main body control unit 11 and stored in the internal memory unit. As a result, the marking robot 10 moves to a predetermined position under the control of the main body control unit 11, and then drives the printer 12 to print the customized marking at the predetermined position. Screen 504 in FIG. 4B shows an example of an editing screen when entering other comments. Since the content overlaps with that explained for screen 503, a detailed explanation of screen 504 will be omitted.

[0037] Next, we will explain how the operator uses the control operation unit 30 to determine how to print when a customized marking with a comment overlaps with a basic marking. An example of an editing screen for such a case is shown in screen 505 in FIG. 4C. In screen 505, the control operation unit 30 determines whether the basic marking and comment print content overlap, and if overlap occurs, displays a message in the comment column 65 indicating that overlap occurs. This allows the operator to recognize that there is overlap. The operator then operates the editing screen and selects whether to continue with the marking as is (accepting the overlap) or to prioritize (highlight) the display of the comment by operating the selector 66. After this selection, the operator operates the decision button 58.

[0038] By this operation, the control operation unit 30 can generate customized marking information that allows the operator to mark and print in the state desired by the operator. This customized marking information is sent to the main body control unit 11. After the marking robot 10 moves to a predetermined position by the control operation of the main body control unit 11, it drives the printer 12 and prints the customized marking at the predetermined position.

[0039] FIG. 5 shows an example of an image in which basic marking print content and customized marking print content are combined. Image 601 in FIG. 5 is an example of basic marking print content (background image). Image 602 is an image (customized image) in which arrows and several comments have been added to the content of image 601. Image 603 shows an example of basic marking content. Image 604 is an image (customized image) in which arrows and comments have been added to the content of image 603. Image 605 is an example of an L-shaped background image (basic marking print content), and image 606 shows an image in which an arrow has been added to image 605. Image 607 is an example of a background image for a 45mm partition mark.

[0040] Next, an example of the operation for creating this customized marking information will be described with reference to Fig. 6. Fig. 6 is an example of a flowchart for editing marking information (changing the marking type). In FIG. 6, in step S01, the operator selects a print image change using the control operation unit in order to change the marking type of the drawing data.

[0041] Next, in step S02, a background image to be marked (contents of basic marking information) is selected. When the operator operates the editing screen to select a background image, the arrow editing information 303 (Direction) shown in Fig. 3 is referenced (step S03).

[0042] Next, in step S0, if the information in the arrow edit information 303 (Direction) indicates that the direction cannot be selected, the process is skipped. If only direction is available or direction is selectable, the direction in which the arrow is to be added is selected.

[0043] Next, the character edit information 304 (Input Name) is referenced (step S05).

[0044] In the following step S06, if the information in the character edit information 304 (Input Name) indicates that addition is not possible, the process is skipped, whereas if addition is possible, the character to be added is input.

[0045] The characters to be added can be freely entered, or the distance from the reference center can be calculated from the drawing data and automatically inserted. Therefore, in step S07, there is a case where the entered characters overlap with the lines of the background image, which is the image of the basic marking information, and the control operation unit 30 checks whether they actually overlap.

[0046] In step S08, if a line and a character overlap, information 305 (Priority) for selecting which one should be given priority is referenced.

[0047] If the information 305 for selecting which to prioritize indicates that the line is prioritized, for example, the process is skipped. If the text is prioritized, the operator is asked to agree to erase the line (step S08).

[0048] Next, in step S09, if consent is obtained from the operator, the control operation unit 30 performs processing to paint the background of the characters white.

[0049] Thereafter, in step S10, the control operation unit 30 generates customized marking information (print image) by combining the characters and the background image.

[0050] According to the flowchart shown in FIG. 6, for example, the image 601 in FIG. 5 can be edited (changed) to become the image 602, and when the operator requests the main body control unit 11 to mark out and print via the control operation unit 30, the marking robot 10 can mark out the customized image 602 at the specified position.

[0051] As described in detail above, according to an embodiment of the present invention, the operator can edit the editable information as appropriate according to the editing screen of the control operation unit 30, and the control operation unit 30 can create (customized) marking information that reflects the editing results, and the marking robot 10 can perform customized marking printing at a specified marking position based on this customized marking information.

[0052] Next, we will explain how to change the printing direction of marking when the marking position is close to a wall. Figure 7 is a diagram for explaining the operation when marking close to a wall. Figure 8 shows an example of a flowchart for determining the rotation angle of the marking in the case shown in Figure 7.

[0053] 7, the marking robot system 1 can identify a wall 701 from drawing data such as BIM (Building Information Modeling). For example, when marking an area near a wall, the marking robot 10 moves to the marking point and then calculates a perpendicular line 703 that intersects perpendicularly with the wall from the drawing data. Note that the area that will become a wall can also be identified by analyzing images from a range sensor or camera in addition to the drawing data.

[0054] Thereafter, the marking robot 10 moves the measurement target 15, measures its position at two points using the tracking 3D measuring device 20, and calculates the orientation of the marking robot 10 from the coordinates. An angle θ is calculated from the intersection of the calculated perpendicular line 703 and a straight line 704 indicating the orientation of the robot. When marking, this angle θ is used to rotate the image 705 to be marked by θ to produce image 706.

[0055] By transmitting the marking information thus created as image 706 to the main body control unit 11, the marking robot 10 can mark the wall 701 with the arrow pointing in the direction of the wall 701 as shown in image 706.

[0056] Fig. 8 shows a flowchart for realizing the operation described in Fig. 7. In Fig. 8, in step S1, a perpendicular line 703 that perpendicularly intersects with a wall 701 is calculated from drawing data.

[0057] In the next step S22, the position of two points is measured by the tracking three-dimensional measuring device 20, and the direction of the marking robot 10 is calculated from the coordinates.

[0058] In the next step S23, an angle θ is calculated from the intersection of the perpendicular line 703 calculated in step S21 and the straight line 704 of the robot direction calculated in step S22. In step S24, this angle θ is used to create marking information for rotating the image 705 to be marked by θ.

[0059] By performing such an operation, it is possible to perform marking printing with an arrow pointing in the direction of the wall 701 as shown in image 706.

[0060] Next, an example of an edit screen for marking points for a contractor to be given priority will be described with reference to Fig. 9. Fig. 9 is an example of a marking point selection screen for a contractor (for example, a dedicated electrical contractor) to be given priority when marking out. Screen 901 is an example of a screen in which marking point information for electrical equipment contractors is set in filter 91 in filter condition setting 91, and all is selected with select button 92. By making it possible to select settings for other contractors in this way, it is also possible to give priority to marking out for other contractors.

[0061] Also, screen 901 is an example of selecting the ink points to be marked out, but it is also possible to select the ink points for the preferred contractor by selecting the type of ink points to be prioritized on the screen immediately before performing the marking. [Explanation of symbols]

[0062] 1... marking robot system, 10... marking robot, 11... main body control unit, 12... printer, 13...moving body, 14...actuator, 15...measurement target, 20...tracking type three-dimensional measuring device, 30...control operation unit

Claims

1. A marking robot system comprising: a printer for marking and printing; an actuator attached to said printer and enabling said printer to move; a mobile body that moves while carrying said printer and said actuator; and a main body control unit that controls said printer, said actuator, and said mobile body; a tracking three-dimensional surveying device that measures the position of said marking robot and transmits the position measurement results to said main body control unit; and a control operation unit that instructs said main body control unit to perform marking processing by transmitting and receiving signals to and from said main body control unit, the main body control unit has a function of transmitting and receiving information between the tracking type three-dimensional surveying instrument and the control operation unit, and stores the marking information composed of basic marking information and editable information corresponding to the basic marking information; the control operation unit retrieves the marking information, displays an editing screen for an operator to edit the editable information, generates customized marking information based on an operation result on the editing screen, and transmits the customized marking information to the main body control unit; the main body control unit performs the marking printing based on the customized marking information, The editable information includes at least one of arrows and characters, the control operation unit determines whether the line included in the basic marking information overlaps with the character, and when it determines that the line included in the basic marking information overlaps with the character, displays a screen on the editing screen indicating that an overlap occurs, allowing the user to select whether to prioritize the line or the character; The control operation unit of the marking robot system performs a process of filling in the background of the characters with white when the characters are given priority.

2. 2. The marking robot system according to claim 1, wherein the marking information stored in the main body control unit is downloaded via a storage medium.

3. 2. The marking robot system according to claim 1, wherein the marking information is downloaded via a communication line from an external device that stores the marking information.

4. 2. The marking robot system according to claim 1, wherein the control operation unit has a function of adding an image taken by a built-in camera as part of the editable information.

5. 2. The marking robot system according to claim 1, further comprising a function for enlarging or reducing the size of the marking printouts printed based on said basic marking information.

6. A marking robot system comprising: a printer for marking and printing; an actuator on which said printer is attached and which enables said printer to be moved; a mobile body which moves and which carries said printer and said actuator; and a main body control unit which controls said printer, said actuator and said mobile body; a tracking three-dimensional surveyor which measures the position of said marking robot and transmits the position measurement results to said main body control unit; and a control operation unit which instructs said main body control unit to carry out marking processing by transmitting and receiving signals to and from said main body control unit, the main body control unit has a function of transmitting and receiving information between the tracking type three-dimensional surveying instrument and the control operation unit, and stores the marking information composed of basic marking information and editable information corresponding to the basic marking information; the control operation unit retrieves the marking information, displays an editing screen for an operator to edit the editable information, generates customized marking information based on an operation result on the editing screen, and transmits the customized marking information to the main body control unit; the main body control unit performs the marking printing based on the customized marking information, A marking robot system characterized by having a function that, when marking near a wall, calculates the angle by which to rotate the marking from the angle between a perpendicular line perpendicular to the wall and a straight line in the direction of the marking robot, and changes the direction of the marking relative to the wall based on the calculated angle to perform the marking.

7. A method for controlling a marking robot system comprising a marking robot having a printer mounted on a moving body and performing marking printing using the printer based on marking information, a tracking type three-dimensional measuring device that measures the position of the marking robot, and a control operation unit that transmits information for controlling the marking robot, The marking information is configured to include basic marking information and editable information corresponding to the basic marking information, an editing screen is displayed on the control operation unit based on the marking information, the control operation unit generates customized marking information based on the operation result of the editing screen, and the marking robot performs the marking printing using the customized marking information, The editable information includes at least one of arrows and characters, The control operation unit determines whether the line included in the basic marking information overlaps with the character, and when it determines that the line included in the basic marking information overlaps with the character, displays a screen on the editing screen indicating that an overlap occurs, allowing the user to select whether to prioritize the line or the character; A control method for a marking robot system, wherein the control operation unit performs a process of filling in the background of the character with white when the character is given priority.

Images