Marking robot system and control method for marking robot

Abstract

To improve efficiency of marking efficiency of a marking robot.SOLUTION: A marking robot system 1 includes a marking robot 2 which is mounted with a sensor 26 for detecting an obstacle, travels on a work site FL on the basis of positional information measured by a position measurement device 4, and performs printing at a marking position, and an operation device 3 which sets the position of a structure 5 at the work site, and instructs the marking robot to perform marking processing. The marking robot sets a predetermined range of the structure as an attention area 6, sets a relay point RP through which the marking robot passes when being moved to a predetermined marking position MP2 in the attention area, and makes detection sensitivity of the sensor lower than a normal value used in a normal area 9 outside the attention area, when being moved to the predetermined marking position from the relay point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an inkjet robot system and a method for controlling an inkjet robot.

Background Art

[0002] In recent years, at construction sites, there has been a growing trend to automate operations such as inkjetting, which used to be carried out only by skilled workers, using robots. An inkjet robot system that automatically performs such inkjetting is disclosed in, for example, Patent Document 1.

[0003] Although not a technology related to inkjetting, Patent Document 2 is known as a technology for correcting map data. Patent Document 2 discloses a technology for "detecting the difference or error between a map and the real space and using the detection result to correct the map so as to reflect the situation of structures."

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Conventionally, in the inkjetting work performed by skilled workers, the inkjetting work for the entire work site of a building was carried out manually. With the inkjet robot described in Patent Document 1, the inkjetting work can be automatically performed under predetermined conditions. However, in the vicinity of structures such as walls or openings, there is a possibility that the inkjet robot and the structure may physically interfere. Therefore, there is room for improvement in the range where the inkjetting work is automatically performed.

[0006] Therefore, the object of the present invention is to provide a marking robot system and a control method for a marking robot that can be implemented in a way that improves the efficiency of marking work performed by the marking robot. [Means for solving the problem]

[0007] To solve the above problems, the marking robot system includes a marking robot equipped with a sensor to detect obstacles, which travels around the work site based on position information measured by a position measuring device and prints at the marking positions, and an operating device that sets the positions of structures at the work site and instructs the marking robot to perform the marking process. The marking robot sets a predetermined range of structures set by the operating device as a caution area, sets relay points to pass through when moving to a predetermined marking position within the caution area, and when moving from a relay point to a predetermined marking position, it reduces the detection sensitivity of the sensor to a value lower than the normal value used in the normal area outside the caution area. [Effects of the Invention]

[0008] According to the present invention, when moving the marking robot to a predetermined marking position within a caution area, the detection sensitivity of the sensor is reduced to a lower value than normal, allowing the marking robot to be brought closer to the structure and print at the predetermined marking position. [Brief explanation of the drawing]

[0009] [Figure 1] This is an explanatory diagram showing the overall overview of the marking robot system. [Figure 2] This diagram shows the functional configuration of the marking robot system. [Figure 3] This is a perspective view showing the general layout of a marking robot. [Figure 4] This is a flowchart showing the overall process for marking out the layout. [Figure 5] This flowchart shows how to set up a wall area. [Figure 6] This is an example screen used when setting wall areas based on actual measurements. [Figure 7]This is a flowchart showing the process for generating the travel path of a marking robot. [Figure 8] This is a flowchart for setting a caution area outside the wall area. [Figure 9] This is an explanatory diagram showing one example of setting a travel route. [Figure 10] This is an explanatory diagram showing other examples of setting a travel route. [Figure 11] This is an explanatory diagram showing an example of setting a caution area. [Figure 12] This flowchart shows the process of a marking robot moving around the work site and marking out lines. [Figure 13] This is a flowchart illustrating the marking process by a marking robot according to the second embodiment. [Figure 14] This is a flowchart illustrating the process of providing the results of the marking-out work to the worker, according to the third embodiment. [Figure 15] This is a flowchart illustrating the marking process by a marking robot according to the fourth embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings. The present invention is not to be interpreted as being limited to the embodiments described below. It will be easily understood by those skilled in the art that the configuration can be modified without departing from the technical idea or spirit of the present invention. In addition, in the configurations of the embodiments described below, the same reference numerals are used for parts that are the same equipment or have similar operation or function, and redundant explanations may be omitted. Furthermore, the positions, sizes, shapes, and ranges of each component shown in the drawings are for the purpose of facilitating understanding of the present invention and do not represent the actual positions, sizes, shapes, and ranges of each component. For example, the configuration of the marking robot described in the embodiment is just one example and is not limited to the configuration described in the embodiment.

[0011] The inkjet robot system 1 disclosed in this embodiment includes an inkjet robot 2 that travels on a work site FL based on position information measured by a position measurement device 4, and an operation device 3 that is operated by an operator (operator of the inkjet robot 2) (see FIG. 1).

[0012] As shown in FIG. 2, the inkjet robot 2 includes, for example, a printer 22 that performs inkjet printing, a printer drive unit 212 that enables the printer 22 to move, a moving body 20 that mounts and moves the printer 22 and the printer drive unit 212, and an inkjet robot control unit 210 that controls the printer 22, the printer drive unit 212, and the moving body 20.

[0013] The position measurement device 4 is configured as, for example, an automatic tracking type 3D surveying machine, measures the position of the inkjet robot 2 in the work site FL, and notifies the inkjet robot control unit 210 of the position measurement result (position information).

[0014] The operation device 3 communicates with the inkjet robot control unit 210 and instructs the inkjet robot control unit 210 to perform an inkjet process.

[0015] The inkjet robot control unit 210 uses the communication unit 24 to transmit and receive information to and from the position measurement device 4 and the operation device 3. The inkjet robot control unit 210 stores inkjet information composed of basic inkjet information and editable information corresponding to the basic inkjet information.

[0016] The operation device 3 takes in the inkjet information, displays an editing screen for the operator to edit the editable information, generates customized inkjet information based on the operation result on the editing screen, and transmits it to the inkjet robot control unit 210. The inkjet robot control unit 210 performs inkjet printing according to the customized inkjet information.

[0017] According to the inkjet robot system according to the present disclosure, the possibility of performing inkjet printing even in an area close to a structure where it was difficult for the inkjet robot 2 to travel increases, so the efficiency of the inkjet printing operation by the inkjet robot 2 is improved.

[0018] This disclosure includes a system or method having the following configuration:

[0019] (Expression 1) A marking robot system comprising: a marking robot 2 equipped with a sensor 26 for detecting obstacles 5, which travels along the work site FL based on position information measured by a position measuring device 4 and prints at marking positions MP; and an operating device 3 which sets the position of a structure 5 at the work site FL and instructs the marking robot 2 to perform marking processing, wherein the marking robot 2 sets a predetermined range of the structure 5 set by the operating device 3 as a caution area 6, sets an intermediate point RP which it passes through when moving to a predetermined marking position MP2 within the caution area 6, and when moving from the intermediate point RP to the predetermined marking position MP2, the marking robot system reduces the detection sensitivity of the sensor 26 to a normal value used in the normal area 9 outside the caution area 6.

[0020] (Expression 2) The marking robot system according to Expression 1, wherein the intermediate point is set so that the marking robot can print in the posture it assumes when it starts moving from the intermediate point to the predetermined marking position.

[0021] (Expression 3) The marking robot system according to either Expression 1 or 2, wherein when the marking robot moves from the relay point to the predetermined marking position, the detection sensitivity of the sensor is reduced to a lower value than the normal value, and the movement speed is also reduced to a lower speed than the normal speed in the normal area.

[0022] (Expression 4) The marking robot system according to any one of Expressions 1-3, wherein the marking robot reduces at least one of the detection sensitivity or movement speed of the sensor in the attention area in multiple steps below the normal value or normal speed.

[0023] (Expression 5) When the marking robot prints at the predetermined marking position, it returns from the predetermined marking position to the relay point in the same orientation as when it printed. A marking robot system described in any one of the expressions 1-4.

[0024] (Expression 6) The marking robot system according to any one of Expressions 1-5, wherein if the marking robot detects an obstacle by the sensor while moving from the relay point to the predetermined marking position, it stops in place and returns to the relay point in the same posture.

[0025] (Expression 7) A marking robot system according to any one of Expressions 1-6, wherein if the marking robot is unable to print at the predetermined marking position, it notifies the operating device of that fact.

[0026] (Expression 8) The marking robot system according to any one of Expressions 1-7, wherein the marking robot selects as the relay point the coordinate point that is the shortest distance from each coordinate point in the normal area to the predetermined marking position.

[0027] (Expression 9) The marking robot system according to any one of Expressions 1-8, wherein the marking robot selects as the intermediate point the coordinate point that has the shortest distance to the predetermined marking position from among the coordinate points in the normal area such that the path from the intermediate point to the predetermined marking position is parallel or perpendicular to the grid line of the work site.

[0028] (Expression 10) The marking robot system according to any one of Expressions 1-9, wherein the marking robot sets the attention area by expanding the outer edge of the structure.

[0029] (Expression 11) The marking robot system according to any one of Expressions 1-10, wherein if the area obtained by enlarging the outer edge of the structure is larger than a predetermined value, the attention area is set by deleting a predetermined amount of the region at the vertices of the area.

[0030] (Expression 12) The marking robot system according to any one of Expressions 1-11, wherein the operating device sets the position of the structure using one or more of the following: actual measurement of the work site, manual setting, 3D design data, and analysis of images taken of the work site.

[0031] (Expression 13) A method for controlling a marking robot, wherein the marking robot is equipped with a sensor for detecting obstacles, travels around the work site based on position information measured by a position measuring device, and prints at marking positions, and a predetermined range of a structure set by an operating device is set as a caution area, relay points are set to be passed through when moving to a predetermined marking position within the caution area, and when moving from the relay points to the predetermined marking position, the detection sensitivity of the sensor is reduced to a normal value used in a normal area outside the caution area. [Examples]

[0032] The first embodiment will be explained using Figures 1 to 12. The configuration of the marking robot system 1 will be explained using Figures 1 to 3. Figure 1 is an explanatory diagram showing the overall overview of the marking robot system 1. Figure 2 is a diagram showing the functional configuration of the marking robot system 1. Figure 3 is a perspective view showing the outline of the marking robot 2.

[0033] As shown in Figure 1, the marking robot system 1 includes, for example, a marking robot 2, a tracking type three-dimensional measuring instrument 4 as an example of a "position measuring device" for measuring the position of the marking robot 2, and an operating device 3 operated by an operator.

[0034] At construction sites or other work sites (FL), structures 5, such as walls or columns, may exist. These structures 5 may include not only permanent objects like walls and columns, but also temporary structures that exist for relatively long periods. Structures 5 are also referred to as wall areas 5.

[0035] In the vicinity of structure 5, marking points (also called marking points or marking positions) may be printed to indicate the locations of, for example, electrical outlets and pipe passages. When printing marking points near structure (wall area) 5, the marking robot 2 needs to approach structure 5. However, as described later, the marking robot 2 is equipped with a forward sensor 26 as an example of a safety driving sensor to ensure safe driving. Therefore, the forward sensor 26 may detect the presence of structure 5, and it may not be possible to approach the marking point near structure 5 (in Figure 1, the predetermined marking position MP2).

[0036] Therefore, in this embodiment, a caution area 6 is set outside the structure 5, and the marking robot 2 reduces the detection sensitivity of the forward sensor 26 within the caution area 6 compared to the detection sensitivity (normal value) in the normal area 9. Furthermore, the marking robot 2 reduces its movement speed within the caution area 6 compared to its normal speed in the normal area 9. As a result, the marking robot 2 can approach the predetermined marking point MP2 at a low speed within the caution area 6.

[0037] Furthermore, in this embodiment, in order for the marking robot 2 to safely reach a predetermined marking point MP2 within the caution area 6, a relay point RP is set at the boundary between the normal area 9 and the caution area 6. The marking robot 2 moves from its previous work position, marking point MP1, to the relay point RP.

[0038] When the marking robot 2 reaches the intermediate point RP, it adjusts its posture toward the predetermined marking point MP2 and reduces its movement speed and sensor detection sensitivity. Then, the marking robot 2 travels slowly from the intermediate point RP toward the predetermined marking point MP2 and prints at the predetermined marking point MP2. Once printing is complete, the marking robot 2 reverses back to the intermediate point RP while maintaining the same posture.

[0039] In other words, the relay point RP is set so that printing can be done at a predetermined ink point MP2 in the orientation when the marking robot 2 departs from the relay point RP. The printer 22 is located slightly forward of the center of the frame 200 and is close to the front bumper 201. Therefore, by orienting the marking robot 2 towards the predetermined ink point MP2, the position of the printer 22 can be brought closer to the structure 5.

[0040] Furthermore, if the marking robot 2 changes its posture by turning or other actions within the attention area 6, there is a possibility that it may come into contact with the structure 5. In order to prevent contact due to turning or other actions, the width of the attention area 6 needs to be widened so that the marking robot 2 can rotate within the attention area 6, which increases the area over which it moves at low speed and lengthens the time required for the marking work.

[0041] The marking robot 2 can move parallel or perpendicular to the reference center line BL towards a predetermined marking point MP2. If there are multiple candidates for the intermediate point RP, the intermediate point RP that provides the shortest travel distance from the intermediate point RP to the predetermined marking point MP2 is selected.

[0042] Once the marking robot 2 has finished printing at the designated marking point MP2, it reverses to the intermediate point RP in the same position it was in when the printing was completed. In other words, the marking robot 2 reverses without rotating 180 degrees or making any other changes. When the marking robot 2 returns to the intermediate point RP, it returns the detection sensitivity of the forward sensor 26 to its normal value and also returns its movement speed to its normal speed. Then, the marking robot 2 moves toward the next work position, marking point MP3.

[0043] The method for setting up the caution area 6 will be described later. The distance dL between the caution area 6 and structure 5 (wall area 5 described later) may be a constant value around the entire circumference of structure 5, or it may be varied.

[0044] By reducing the detection sensitivity of the forward sensor 26 within the attention area 6, the marking robot 2 can move to a predetermined marking point MP2 near the structure 5. In the normal area 9, the detection sensitivity of the forward sensor 26 returns to its normal value, allowing the marking robot 2 to detect obstacles in its direction of travel early.

[0045] The movement speed of the marking robot 2 is reduced within the caution area 6, allowing the marking robot 2 to safely move to the designated marking point MP2. Then, since the marking robot 2 travels at normal speed in the normal area 9, it can quickly reach the marking point MP3 within the normal area 9 and begin printing.

[0046] The operating device 3 will now be described. The operating device 3 communicates bidirectionally with the marking robot 2 and also with the tracking type three-dimensional measuring instrument 4. The operating device 3 acquires marking information from the marking information creation unit 7 and transmits customized marking information to the marking robot 2. The marking information creation unit 7 creates marking information based on 3D CAD data acquired from the storage unit 8, which stores 3D CAD data. The marking robot 2 performs marking printing according to the customized marking information.

[0047] Figure 2 illustrates the functional configuration of the marking robot system 1.

[0048] First, let's describe the operating device 3. The operating device 3 can be configured as, for example, a tablet personal computer, a laptop personal computer, a desktop personal computer, a mobile phone (including a smartphone), a personal digital assistant, a watch-type wearable device, or a glasses-type wearable device.

[0049] The operating device 3 includes, for example, a processor (CPU in the figure) 31, a main memory 32, an auxiliary memory 33, a user interface unit (UI unit in the figure) 34, and a communication unit 36, and each of these circuit units is connected to communicate via a bus 36.

[0050] The processor 31, as an arithmetic unit, is not limited to a CPU (Central Processing Unit), but may also be a DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), etc. Multiple arithmetic units may also be provided.

[0051] The main memory 32 is a device that stores computer programs and data read and written by the processor 31. For example, DRAM (Dynamic RAM) or SRAM (Static RAM) can be used in the main memory 32.

[0052] The auxiliary storage device 33 is a relatively large-capacity storage device, and examples of such devices include flash memory, hard disks, magnetic tapes, optical disks, and magneto-optical disks.

[0053] The communication unit 24 is a device that communicates with the marking robot 2, the tracking type three-dimensional measuring instrument 4, and the marking information creation unit 7, for example, using a wireless LAN (Local Area Network). Information may be transmitted using infrared rays or sound waves, not just wirelessly. Either wireless communication or wired communication, or both, may be used.

[0054] This section describes the marking robot 2. The marking robot 2 is deployed at the floor level (FL) of a work site and automatically moves to a predetermined marking position to perform marking printing. Examples of work sites (FL) include construction sites for buildings, civil engineering sites for roads, etc.

[0055] The marking robot 2 autonomously moves according to the operation commands entered by the operator into the control device 3, using position information measured by the tracking type three-dimensional measuring instrument 4. The position information of the marking robot 2 measured by the tracking type three-dimensional measuring instrument 4 is transmitted to the marking robot 2. When the marking robot 2 moves to the scheduled marking point (marking printing position), the printer 22 performs marking printing according to the marking information.

[0056] As described later, the marking robot 2 includes a travel unit 20, wheels 21F, 21R, printer 22, measurement target 23, communication unit 24, operation buttons 25, forward sensor 26, bumper sensors 27F, 27R, downward sensor 28, marking robot control unit 210, travel drive unit 211, printer movement unit 212, measurement target drive unit 213, and a battery (not shown).

[0057] The marking robot control unit 210 stores "marking information," which is information for marking and printing, and controls the entire marking robot 2. The marking robot control unit 210 will be described in more detail later.

[0058] The printer 22 is a device that performs marking and printing under the control of the marking robot control unit 210. The travel unit 20 is a device that moves the entire marking robot 2. The printer movement unit 212 is a device that moves the printer 22, which is installed on the travel unit 20, in a two-dimensional or three-dimensional direction. The measurement target 23 is configured as, for example, a prism. The measurement target 23 is installed on the printer movement unit 212 and moves together with the printer 22 on the XY plane (see Figure 3). Therefore, the position of the measurement target 23 indicates the printing position of the printer 22. The position of the measurement target 23 is changed by the measurement target drive unit 213. The change in the position of the measurement target 23 is detected by the tracking type three-dimensional measuring instrument 4, and the current position of the marking robot 2 is calculated from this.

[0059] The measurement target 23 can also be removed from the marking robot 2 and used separately. If the marking robot 2 cannot print on the marking points, the operator can remove the measurement target 23 from the marking robot 2, place it in the desired position, and measure its position using the tracking type three-dimensional measuring instrument 4. The measurement target 23 is also removed from the marking robot 2 and used separately when measuring the structure (wall area) 5. After the measurement of the wall area 5 is complete, the measurement target 23 is attached to the marking robot 2.

[0060] The marking robot control unit 210 can use information equipment with the functions of a normal computer. That is, the marking robot control unit 210 includes a storage unit and an arithmetic processing unit (neither of which are shown). The communication processing function of the arithmetic processing unit is connected to the operating device 3 via the communication unit 24.

[0061] The memory unit stores the control program for controlling the entire marking robot 2, marking information, and information necessary for operation. The arithmetic processing unit moves the marking robot 2 to the marking position according to the control program, aligns the printer 22 with the marking position, and then drives the printer 22 to perform marking printing according to the marking information. The entire printer 22 moves back and forth and left and right on the plane (floor surface) of the work site FL by the printer movement unit 212. In other words, the printer 22 and the printer movement unit 212 as a whole operate like an XY plotter. Instead of the XY plotter type printer 22 and printer drive unit 212, a 3-axis arm robot may be mounted on the travel unit 20, and a print head may be attached to the tip of the arm of the 3-axis arm robot.

[0062] The running section 20 includes, for example, a frame 200, wheels 21F and 21R provided below the frame 200, and a running drive unit 211 that drives the wheels 21F and 21R. The running drive unit 211 may drive either the front or rear wheels 21F and 21R (front-wheel drive or rear-wheel drive), or it may drive all of the wheels 21F and 21R (four-wheel drive). Crawlers may be used instead of the wheels 21F and 21R.

[0063] The operation buttons 25 are located on the frame 200 and are operated manually by the operator as needed. The operation buttons 25 are, for example, a power switch and a stop switch (neither of which are shown in the illustration).

[0064] The marking robot 2 is equipped with various sensors 26, 27F, 27R, and 28 to ensure safety in order to safely travel along the floor level (FL) of the work site. The forward sensor 26 is composed of, for example, LiDAR (Light Detection and Ranging) and detects objects in the direction of travel of the marking robot 2. The bumper sensors 27F and 27R are installed on bumpers 201 located at the front and rear of the frame 200 and detect when the bumpers 201 come into contact with an object (only the front bumper is shown in Figure 3). The downward sensor 28 detects unevenness and openings on the floor surface of the work site (FL). Sensors other than those shown, such as a 3D camera, ultrasonic sensor, or infrared thermometer, may also be mounted on the marking robot 2.

[0065] As described above, the printer movement unit 212 is positioned on the travel unit 20, with the printer 22 mounted below it. The printer movement unit 212 moves and positions the printer 22 to the marking printing position through positioning control by the marking robot control unit 210. In this embodiment, the printer movement unit 212 can move the printer 22 in the two-dimensional XY direction as well as in the Z direction. This is to position the print head of the printer 22 to a position suitable for printing on the marking surface (floor, wall, ceiling).

[0066] The marking robot control unit 210 moves and positions the marking robot 2 to the marking position (marking point) based on the marking position (target printing position) included in the marking information and the position information of the marking robot 2 measured by the tracking type three-dimensional measuring instrument 4. When the marking robot 2 reaches the marking position, the marking robot control unit 210 uses the printer movement unit 212 to position the printer 22 at the marking point (marking printing position) with high precision. The printer 22 then prints the predetermined content at the marking point.

[0067] The tracking-type three-dimensional measuring instrument 4 described above tracks the measurement target 23 attached to the marking robot 2 using laser light. The tracking-type three-dimensional measuring instrument 4 uses the reflected light from the measurement target 23 to measure the position of the measurement target 23 in three-dimensional space, that is, the position of the marking robot 2.

[0068] The tracking type three-dimensional measuring instrument 4 accurately measures the position of the marking robot 2 by measuring the position of the measurement target 23 attached to the marking robot 2. The tracking type three-dimensional measuring instrument 4 is not limited to those using laser light; any instrument capable of measuring the position of the marking robot 2 can be used. The position of the marking robot 2 measured by the tracking type three-dimensional measuring instrument 4 is transmitted to the marking robot control unit 210 for use in controlling the movement (positioning) of the marking robot 2 to the marking position. The information is also transmitted to the operating device 3 as needed based on command information from the operating device 3.

[0069] As described above, the operating device 3 is a computer terminal that transmits and receives information between the marking robot 2 and the tracking type three-dimensional measuring instrument 4 to control the operation of the marking robot 2 and the tracking type three-dimensional measuring instrument 4. In this embodiment, the operating device 3 has a function to edit (customize) the marking information based on the marking information received from the marking robot control unit 210, through operation by the operator on the operating device 3 side. Therefore, the operating device 3 transmits and receives information with the marking robot control unit 210 and can share the marking information with the marking robot control unit 210. The operating device 3 has a function to take in "basic marking information," which is the basic marking information in the "marking information," and "editable information" for customization, and to display an editing screen for operation by the operator, and an operation function for the operator to make selections using the editing screen.

[0070] The flowchart in Figure 4 will be used to explain the overall process of marking out work. The work on site can be broadly divided into the pre-marking preparation procedure and the marking out work itself.

[0071] In step S11, the operator measures two or more reference center BLs (see Figure 1) to determine the installation position of the tracking type three-dimensional measuring instrument 4 and performs instrument point setting.

[0072] In step S12, structures such as columns and walls at the site are registered as wall area 5 (see Figure 1). The wall area can also be called, for example, a structure area or a avoidance area. In this embodiment, it is called a wall area. By setting the wall area and further reducing the safety margin of the caution area 6 (see Figure 1) located outside the wall area, the marking robot 2 can approach the marking points near wall area 5 and print. This work constitutes the preliminary preparation before performing the marking.

[0073] Steps S13 to S15 involve the work of marking out lines on site. When the operator selects one or more lines to be marked out using the operating device 3, the marking robot control unit 210 generates a movement path to the selected lines (also called marking points or marking positions).

[0074] In steps S14 and S15, the marking robot 2 moves and prints markings according to the path generated in step S13.

[0075] In step S15, the marking robot 2 determines whether the marking and printing of all specified ink points has been completed. If not, it repeats steps S13 and S14. The marking robot 2 stops when the marking and printing of all specified ink points is complete.

[0076] The method for setting the wall area 5 (S12) will be explained using the flowchart in Figure 5. In this embodiment, the wall area 5 can be set in multiple ways using the operating device 3. That is, in this embodiment, the position of the wall area 5 can be set using one or more of the following methods: manually setting it by actual measurement at the work site FL, using 3D design data, or analyzing images taken at the work site FL.

[0077] The operator selects a method for setting the wall area from the menu displayed on the control device 3 (S121). The method of setting the wall area 5 by actual measurement (S1221) is a method for precisely setting the wall area 5 and is also called precise area setting. In precise area setting, measurement targets such as prisms are placed at each vertex of the wall area 5 (S1222), and the positions of these measurement targets are measured by the tracking type three-dimensional measuring instrument 4. The position information measured by the tracking type three-dimensional measuring instrument 4 is transmitted to the control device 3 and stored (S1223).

[0078] Figure 6 shows an example of a measurement setting screen G1 for precisely measuring and setting the wall area. The measurement setting screen G1 includes, for example, a guidance display unit G11, a map display unit G12, a measurement data operation unit G13, a measurement data display unit G131, a surveying instrument operation unit G14, a button to return to the previous screen G15, and a button G16 to confirm the wall area setting.

[0079] The guidance display unit G11 shows messages to prompt the operator. Examples of such messages include: "Place the prism at the top of the area and press "Measure". If measurement is not possible due to obstacles, long-press the desired location on the map. After measuring three or more points, press "Confirm".

[0080] The map display unit G12 displays map information of the work site FL. The map information may be created from 3D CAD data. The measurement data operation unit G13 is an operation unit for the operator to select or delete measured data. The measurement data operation unit G13 is equipped with buttons such as "Up one position," "Down one position," and "Delete selected row."

[0081] The measurement data display unit G131 displays the vertex coordinates of the measured wall area, or the vertex coordinates of the wall area specified on the map.

[0082] The surveying instrument control unit G14 is equipped with buttons for operating the tracking-type three-dimensional measuring instrument 4, such as "turn left," "turn right," and "measure."

[0083] It is desirable to set the position of wall area 5 precisely. In other words, screen G1 is an example of a screen for measuring the wall edge using the tracking type three-dimensional measuring instrument 4 and the measurement target 23.

[0084] If there are obstacles such as walls or pillars between the position to be measured using the measurement target 23 and the tracking type three-dimensional measuring instrument 4, the tracking type three-dimensional measuring instrument 4 cannot measure the position of the measurement target 23. In this case, the operator can specify the coordinates by long-pressing a predetermined location on the map displayed on the map display unit G12.

[0085] Return to Figure 5. When the mode for manually setting wall area 5 is selected (S1231), the operator can input the position (vertex coordinates) of wall area 5 by selecting a position on the map displayed on the map display unit G12 (S1232).

[0086] When the mode for processing drawing data and setting wall area 5 is selected (S1241), the operating device 3 acquires 3D CAD data (S1242), extracts wall area 5 from the acquired 3D CAD data, and sets it (S1243). 3D CAD data may include, for example, BIM (Building Information Modeling) data. Wall area 5 may also be set from wall information (Wall) included in drawing data such as BIM.

[0087] When a mode for processing sensor data and setting wall areas is selected (S1251), the operating device 3 acquires data from predetermined sensors for recognizing three-dimensional space (S1252) and extracts wall areas 5 from the sensor data (S1253).

[0088] The designated sensor can be, for example, a range sensor or an image sensor (a camera capable of measuring distance).

[0089] The flowchart in Figure 7 will be used to explain in detail the process by which the marking robot 2 generates a travel path (step S13 in Figure 4).

[0090] The marking robot 2 moves the measurement target 23, and the tracking type three-dimensional measuring instrument 4 measures the position of the measurement target 23 at two points. Based on this, the orientation and position of the marking robot 2 are calculated (S131).

[0091] The marking robot 2 generates a caution area 6 from the shape of wall area 5 for marking points close to wall area 5 (S132). The method for setting the caution area 6 will be described later, but in short, as shown in Figure 9, the caution area 6 can be calculated as, for example, an enlarged area of ​​the outer edge of wall area 5. As shown in Figure 10, if wall area 5 is triangular, the caution area 6 may become unnecessarily large. Therefore, if the caution area obtained by enlarging the outer edge of wall area 5 is larger than a predetermined value, the marking robot 2 deletes a predetermined amount of the area at the vertices of the caution area 6.

[0092] The marking robot 2 calculates candidates for the intermediate point RP (S133). The marking robot 2 calculates perpendicular lines 101 from the marking point MP to each side of the attention area 6 (the outer edge of the attention area 6) (S133). Perpendicular lines that cross the wall area 5 are excluded because the marking robot 2 cannot move across the wall area 5. Only perpendicular lines that do not cross the wall area 5 are selected. The points RPC where the selected perpendicular lines 101 intersect with each side of the attention area 6 are candidate points (coordinates) for the intermediate point RP.

[0093] From the calculated candidate relay point RPCs, those located in areas where the marking robot 2 cannot travel are excluded (S134).

[0094] The marking robot 2 calculates the distance between the marking points in the attention area 6 and each candidate relay point RPC, and selects the shortest candidate relay point RPC as the relay point RP (S135).

[0095] The marking robot 2 generates a travel path connecting the selected relay point RP to other marking points within the normal area 9 (S136). The marking robot 2 transmits the generated path to the control device 3 upon request from the control device 3 (S137). The operator can also modify the path created by the marking robot 2 on the control device 3.

[0096] The process of setting the attention area 6 (step S132 in Figure 7) will be explained using the flowchart in Figure 8. The marking robot 2 enlarges the outer edge of the wall area 5 (S1321) and determines if there are any places where the enlarged area is larger than a predetermined value (S1322).

[0097] If there are any areas that exceed a predetermined value (S1322: YES), the marking robot 2 deletes those areas (S1323). Then, the marking robot 2 stores the created attention area 6 (S1324). If there are no areas that exceed a predetermined value after being enlarged (S1322: NO), step S1323 is skipped and the process moves to step S1324.

[0098] Figure 9 illustrates the schematic of setting up a caution area 6 and a relay point RP within a rectangular wall area 5. The caution area 6 can be set up by expanding its outer edge without changing the shape of the rectangular wall area 5. Therefore, the caution area 6 and the wall area 5 are similar.

[0099] Draw perpendicular lines from the designated ink point MP within attention area 6 to each side of attention area 6. Of these perpendicular lines, the one that crosses wall area 5 and points upward is excluded and therefore not shown. The points where the other three perpendicular lines 101(1) to 101(3) intersect with attention area 6 become candidate relay points RPC1 to RPC3.

[0100] The marking robot 2 calculates the distance from a predetermined marking point MP to each of the candidate intermediate points RPC1 to RPC3. The shortest distance is from the predetermined marking point MP to the first candidate intermediate point RPC1, but since the first candidate intermediate point RPC1 is located inside the opening 51, the marking robot 2 cannot move to the first candidate intermediate point RPC1. Therefore, the first candidate intermediate point RPC1 cannot be selected as an intermediate point and is excluded. The opening 51 is a hole or depression in the floor, etc.

[0101] The next shortest distance is from the designated ink point MP to the candidate second relay point RPC2. The candidate second relay point RPC2 is usually located within area 9 and has no other obstacles in its vicinity. Therefore, as shown in the lower part of Figure 9, the candidate second relay point RPC2 is selected as relay point RP.

[0102] Note that the intermediate point RP does not need to precisely coincide with the intersection of the perpendicular line 101 and the caution area 6. The intermediate point RP may be set closer to the normal area 9 from the intersection of the perpendicular line 101 and the caution area 6. This allows the marking robot 2 to travel more safely. Alternatively, the intermediate point RP can be set closer to the wall area 5 from the intersection of the perpendicular line 101 and the caution area 6, so as not to cause contact between the marking robot 2 and the wall area 5. This allows the marking robot 2 to travel a longer path at normal speed, thereby shortening the time required for marking work across the entire FL work site.

[0103] Figure 10 shows a schematic of setting up a caution area 6 and a relay point RP within a triangular wall area 5. If the wall area 5 is enlarged without changing its shape, the area 61 in the upper right of Figure 10 becomes unnecessarily large. Therefore, as shown in the lower part of Figure 10, the marking robot 2 removes the unnecessary area 61 to set up the caution area 6.

[0104] The marking robot 2 then calculates the distance from a predetermined marking point MP within the attention area 6 to candidate relay points RPC1 and RPC2, and selects candidate relay point RPC1, which is the shortest distance, as relay point RP.

[0105] As shown in the modified example in Figure 11, the regions 61(1) to 61(3) near each vertex of the enlarged attention area 6, which is created without changing the shape of the wall area 5, may be deleted by a predetermined amount. In this way, the attention area 6 can be set with the minimum necessary area. This expands the range in which the marking robot 2 can travel at normal speed, and reduces the time required for marking work.

[0106] The flowchart in Figure 12 illustrates the process by which the marking robot 2 moves along the work site FL and marks the work area (step S14 in Figure 4).

[0107] The marking robot 2 determines whether the next point it will move to is a marking point (S1401). If the next point is a marking point (S1401: YES), the marking robot 2 moves to that marking point at its normal speed (S1402).

[0108] If the marking robot 2 detects an object while moving (S1403:YES), it stops in place (S1404) and terminates this process. The detection sensitivity of the forward sensor 26 is at its normal value. In step S1403, if any one of the sensors 26, 27F, 27R, or 28 detects an obstacle, the marking robot 2 stops (S1404).

[0109] When the marking robot 2 reaches the target marking point and determines that printing is possible (S1405: YES), it uses the printer 22 and the printer movement unit 212 to print the predetermined content at the marking point (S1406). The marking robot 2 returns to step S1402 until it reaches the marking point and becomes ready for printing.

[0110] In contrast, if the next point to be moved to is not a marking point, i.e., a relay point (S1401:NO), the marking robot 2 moves to the relay point at normal speed (S1401). Upon reaching the relay point, the marking robot 2 controls its posture to face the direction of the marking point within the attention area 6 (S1412). This is so that it can move to the marking point in the same posture and print at the marking point without rotating or performing any other actions.

[0111] The marking robot 2 reduces the detection sensitivity of the forward sensor 26 from the normal value in normal area 9 (S1413). The marking robot 2 sets the detection sensitivity (detection range) of the forward sensor 26 to less than the detection sensitivity (normal value) in normal area 9. For example, the detection sensitivity in attention area 6 may be set to half or less of the normal value. The detection sensitivity in attention area 6 may be set to one-third or one-quarter or less of the normal value.

[0112] Detection sensitivity refers to the distance within the detection range of the front sensor 26. For example, if the detection sensitivity is N meters, the front sensor 26 will detect objects within a range of N meters in front of it. Therefore, by reducing the detection sensitivity of the front sensor 26, the front sensor 26 can get closer to the wall area 5.

[0113] However, if the detection sensitivity of the forward sensor 26 is reduced too much, there is a possibility that the bumper 201 or other protruding parts beyond the forward sensor 26 may come into contact with the wall area 5. Therefore, the lower limit of the detection sensitivity of the forward sensor 26 in the attention area 6 can be set to the length of the part (bumper 201, etc.) that protrudes in front of the forward sensor 26. However, the bumper 201 is equipped with a bumper sensor 27F, and if the bumper sensor 27F comes into contact with an object, it is detected and the marking robot 2 stops immediately. Therefore, the detection sensitivity of the forward sensor may be set to be less than or equal to the length of the forward protruding part such as the bumper 201.

[0114] The marking robot 2 reduces its movement speed (referred to as the second movement speed) when traveling within the attention area 6 to a value less than the normal speed (S1414). The second movement speed can also be reduced to about half of the normal speed. The second movement speed can also be reduced to about one-third of the normal speed. The second movement speed may be a fixed value or a value set according to the conditions of the work site FL. The conditions of the work site FL include, for example, the condition of the floor surface (presence or absence of unevenness, slipperiness, etc.), the number of wall areas 5, and the size of the gap dL between the attention area 6 and the wall areas 5. The second movement speed may also be set considering factors other than those listed above.

[0115] Note that steps S1413 and S1414 may be performed in any order, or they may be performed simultaneously.

[0116] The marking robot 2 moves towards the marking point within the attention area 6 at a slower speed than normal, with the detection sensitivity of the forward sensor 26 reduced (S1415). If it detects an object while moving within the attention area 6 (S1416: YES), the marking robot 2 stops in place (S1417). The marking robot 2 may wait for the worker to arrive or may reverse to the intermediate point.

[0117] When the marking robot 2 arrives at a marking point within the attention area 6 and determines that printing is possible (S1418: YES), it prints the predetermined content at the marking point (S1419).

[0118] Once the marking robot 2 has finished printing at the marking points, it reverses to the starting point, the relay point, in the same position (S1420). This is because if it changes its posture, such as rotating, within the caution area 6, it may come into contact with the wall area 5 or other obstacles. However, even if it comes into contact with an obstacle at a speed lower than normal, the marking robot 2 will stop immediately, so there will be no problems and safety will be maintained.

[0119] If the marking robot 2 detects an object while reversing towards the relay point (S1421:YES), it stops in place (S1422). When the marking robot 2 returns to the relay point (S1422:YES), it returns the detection sensitivity of the forward sensor 26 to its normal value (S1424) and its movement speed to its normal speed (S1425). The order of steps S1424 and S1425 may be changed, or they may be performed simultaneously.

[0120] In this embodiment, a caution area 6 is set outside the wall area 5, and the movement speed and sensor detection sensitivity in the caution area 6 are reduced compared to the settings in the normal area 9. As a result, the marking robot 2 can move to marking points closer to the wall area 5 and print. Therefore, the marking robot system 1 of this embodiment can safely and automatically travel along the work site FL and expand the range in which marking points can be safely printed. If a caution area 6 is not set and the sensor detection sensitivity or the movement speed of the marking robot 2 is not reduced, safety will decrease, and the range in which marking work can be performed automatically will be narrowed.

[0121] Reducing both the sensor's detection sensitivity and movement speed maximizes safety, but it is also acceptable to reduce only the sensor's detection sensitivity and move at normal speed to the marking point near wall area 5. Furthermore, when starting to move in caution area 6, the marking robot 2 may emit a voice message or flash its lights to alert people in the vicinity. [Examples]

[0122] Example 2 will be explained using Figure 13. In the following examples, including this example, the differences from Example 1 will be described in particular. Figure 13 is a flowchart of the marking process S14A by the marking robot 2. In this example, the processing when sensors 26, 27F, and 28 for detecting safety ahead detect an object while the marking robot 2 is moving forward towards the marking point in the attention area 6 is changed from Example 1 (S1416: YES).

[0123] When the marking robot 2 detects an object using sensors 26, 27F, and 28 that detect safety ahead, it immediately stops in place (S1417), and then reverses towards the relay point without changing its posture (S1430).

[0124] This embodiment, configured in this manner, also produces the same effects and advantages as Example 1. [Examples]

[0125] Example 3 will be explained using Figure 14. In this example, the marking robot 2 reports the work results to the operating device 3.

[0126] When the marking robot 2 completes the marking work based on the marking information (when it is determined to be YES in step S15 of Figure 4), it creates a work report and sends it to the control device 3 (S161-S163). For example, the marking robot 2 acquires information on the marking points that were printed and information on the marking points that were not printed (S161, S162), creates a work report and sends it to the control device 3 (S163). By viewing the work report, the operator can check the status of the unmanned operation.

[0127] This embodiment, configured in this way, produces the same effects as in Embodiment 1. This embodiment can be combined with Embodiment 2. [Examples]

[0128] Embodiment 4 will be explained using Figure 15. Figure 15 is a flowchart of the marking process 14B by the marking robot 2. In this embodiment, the marking robot 2 gradually reduces its movement speed as it approaches the marking point in the attention area 6 (S1440). For example, the marking robot 2 can reduce its movement speed as it approaches the marking point, such as setting its movement speed to 70% of the normal speed when departing from the intermediate point, and then reducing its movement speed to 50% of the normal speed after passing half the path length from the intermediate point to the marking point.

[0129] This embodiment, configured in this way, also provides the same effects as Embodiment 1. Furthermore, in this embodiment, the movement speed of the marking robot 2 is reduced as it approaches the marking point. Therefore, the marking robot 2 travels through the attention area 6 at the fastest possible speed below normal speed, and reduces its movement speed near the marking point. This suppresses a decrease in the efficiency of the marking work while improving safety. This embodiment can also be combined with Embodiments 2 and 3.

[0130] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described. Furthermore, it is possible to replace parts of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add configurations from other embodiments to the configuration of one embodiment. In addition, it is possible to add, delete, or replace parts of the configuration of each embodiment with other configurations.

[0131] Furthermore, each of the above configurations may be implemented either partially or entirely in hardware, or through program execution on a processor. Also, the control lines and information lines shown are those deemed necessary for illustrative purposes and do not necessarily represent all control lines and information lines in the actual product. In practice, almost all configurations can be considered interconnected. [Explanation of Symbols]

[0132] 1: Marking robot system, 2: Marking robot, 3: Operating device, 4: Tracking type 3D measuring instrument, 5: Wall area (structure), 6: Caution area, 7: Marking information creation unit, 8: CAD data storage unit, 9: Normal area, 20: Driving unit, 22: Printer, 23: Measurement target, 26: Forward sensor, 27F, 27R: Bumper sensors, 28: Downward sensor

Claims

1. It is a marking robot system, A marking robot equipped with sensors to detect obstacles, which travels around the work site based on position information measured by a position measuring device and prints at the marking locations, The device includes an operating device for setting the position of the structure at the work site and instructing the marking robot to perform marking operations. The aforementioned marking robot The aforementioned operating device sets a predetermined range of the structure as a caution area, A relay point is set to be passed through when moving to a predetermined marking position within the aforementioned attention area. When moving from the relay point to the predetermined marking position, the detection sensitivity of the sensor is reduced to a value lower than the normal value used in the normal area outside the caution area. Among the coordinate points in the aforementioned normal area, the coordinate point that is closest to the predetermined marking position is selected as the relay point. Marking robot system.

2. The marking robot sets the relay point so that it can print in the orientation it assumes when it starts moving from the relay point to the predetermined marking position. The marking robot system according to claim 1.

3. When the marking robot moves from the relay point to the predetermined marking position, it reduces the detection sensitivity of the sensor to a value lower than the normal value, and also reduces the movement speed to a value lower than the normal speed in the normal area. The marking robot system according to claim 2.

4. The marking robot reduces at least one of the detection sensitivity or movement speed of the sensor in the attention area in multiple steps below the normal value or normal speed. The marking robot system according to claim 3.

5. When the marking robot prints at the predetermined marking position, it returns from the predetermined marking position to the relay point in the same orientation as when it printed. The marking robot system according to claim 4.

6. If the marking robot detects an obstacle by the sensor while moving from the relay point to the predetermined marking position, it will stop in place and return to the relay point in the same position. The marking robot system according to claim 5.

7. If the marking robot is unable to print at the predetermined marking position, it notifies the operating device accordingly. The marking robot system according to claim 6.

8. The marking robot selects as the intermediate point the coordinate point from among the coordinate points in the normal area such that the path from the intermediate point to the predetermined marking position is parallel or perpendicular to the grid line of the work site, and the coordinate point that provides the shortest distance to the predetermined marking position. The marking robot system according to claim 1.

9. The marking robot sets the attention area by enlarging the outer edge of the structure. The marking robot system according to claim 1.

10. The marking robot system according to claim 9, wherein if the area obtained by enlarging the outer edge of the structure is larger than a predetermined value, the marking robot sets the attention area by deleting a predetermined amount of the region at the vertices of the area.

11. The operating device sets the position of the structure using one or more of the following methods: actual measurements of the work site, manual setting, 3D design data, and analysis of images taken of the work site. The marking robot system according to claim 1.

12. A control method for a marking robot, The aforementioned marking robot is equipped with sensors to detect obstacles, travels around the work site based on position information measured by a position measuring device, and prints at the marking locations. A predetermined range of the structure, set by the operating device, is designated as a caution area. A relay point is set to be passed through when moving to a predetermined marking position within the aforementioned attention area. When moving from the relay point to the predetermined marking position, the detection sensitivity of the sensor is reduced to a value lower than the normal value used in the normal area outside the caution area. Among the coordinate points in the aforementioned normal area, the coordinate point that is closest to the predetermined marking position is selected as the relay point. Control method for a marking robot.

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