Robot system for measuring floor height, and method for measuring floor height

Abstract

To measure the height of the floor in a short time.SOLUTION: A floor height measurement robot system 1 comprises: traveling means that travels on the floor; a marking robot control unit 210 that controls the operation of a tracking-type three-dimensional measuring instrument 4 to cause a marking robot 2 to travel to a predetermined position on the floor by using the traveling means; the tracking-type three-dimensional measuring instrument 4 that measures the position and height of a measurement target 23 whose position is optically measured; a robot operation unit that, on the basis of measurement point information at the coordinates of a floor drawing, issues an instruction to move the robot to the coordinates in the measurement point information by using the traveling means; and a height calculation unit 214 that calculates the height of the floor at a position in the measurement point information on the basis of the height of the measurement target 23 measured by the tracking-type three-dimensional measuring instrument 4.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a floor height measurement robot system and a floor height measurement method. [Background Art]

[0002] In order to clarify the unevenness of the concrete surface on each floor of a building, a worker measures the height of the floor at predetermined intervals. A building is formed by placing a concrete surface, and installing a floor with a gap above the concrete surface. Distortion occurs on the concrete surface due to conditions during construction, changes in moisture content of concrete, loading and transportation of heavy objects, etc., resulting in unevenness on the order of several millimeters, forming unleveled portions. Since unleveled portions cause problems in the construction of the floor, it is necessary to explore for unleveled portions on the concrete surface.

[0003] As a method for exploring unleveled portions on a concrete surface, a method of measuring unleveled portions on the concrete surface with a device for measuring levelness and repairing the floor by re-placing concrete is widely employed. Patent Document 1 describes an invention in which the unevenness level of a floor is measured based on the position of a measurement target measured by a three-dimensional measuring means, and unevenness level information representing the unevenness level is printed on the floor by a printing means. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent No. 7149903 [Summary of the Invention] [Problems to be Solved by the Invention]

[0005] The invention described in Patent Document 1 has a problem that measurement takes time because the sensor that detects the floor moves in the vertical direction. Furthermore, since the reference height (reference height: a height that is a predetermined value higher than the floor level) is not measured, there is a problem that the height of the concrete surface cannot be known. Therefore, an object of the present invention is to measure the height of a floor surface in a short time. [Means for Solving the Problem]

[0006] In order to solve the above problem, the floor height measurement robot system of the present invention comprises: traveling means for traveling on a floor surface; robot control means for controlling the traveling means to cause the robot to travel to a predetermined position on the floor surface; three-dimensional measurement means for measuring the position and height of a measurement target of the robot; robot operation means for instructing, based on measurement point information in coordinates of a floor drawing, the traveling means to move the robot to the coordinates of the measurement point information; and height calculation means for calculating the height of the floor surface at the position of the measurement point information based on the height of the measurement target measured by the three-dimensional measurement means; The robot is provided with printing means for printing on the floor surface and height determination means for determining whether the height of the floor surface calculated by the height calculation means is within a predetermined range, wherein the robot control means, at the position of each measurement point information, measures the measurement target with the three-dimensional measurement means and calculates the height of the floor surface with the height calculation means, and if the height determination means determines that the height of the floor surface deviates from the predetermined range, it causes the printing means to print that fact on the floor surface, and if it determines that the height of the floor surface is within the predetermined range, it does not cause the printing means to print the information of the height of the floor surface on the floor surface.

[0007] The floor height measurement method of the present invention comprises: Based on the measurement point information in the coordinates of the floor plan, a step of causing a robot to travel to a measurement point on a floor surface; a step of measuring the height of a measurement target of the robot by three-dimensional measurement means when the robot is positioned at the measurement point; and a step of calculating the height of the floor surface at the measurement point based on the height of the measurement target; The steps include: determining whether the height of the floor surface is within a predetermined range; if it is determined that the height of the floor surface deviates from the predetermined range, printing that fact on the floor surface; and if it is determined that the height of the floor surface is within the predetermined range, not printing the information about the height of the floor surface on the floor surface. characterized by comprising: Other means are described in the description of the embodiments of the present invention. [Effects of the Invention]

[0008] According to the present invention, it becomes possible to measure the height of a floor surface in a short time. [Brief Description of Drawings]

[0009] [Figure 1] It is a diagram showing the functional configuration of the floor height measurement robot system. [Figure 2] It is a perspective view schematically showing an ink marking robot. [Figure 3] It is a block diagram of a controller. [Figure 4A]This is a flowchart showing the operation of the controller. [Figure 4B] This is a flowchart showing the operation of the controller. [Figure 5] This diagram shows the unevenness of a concrete surface. [Figure 6] This figure shows the calculation process for the height of FL±0. [Figure 7] This is a flowchart of the process for calculating the height of FL±0. [Figure 8] This diagram shows the calculation process for the height of the concrete surface at a reference point. [Figure 9] This is a flowchart of the process for calculating the height of the concrete surface at a reference point. [Figure 10] This diagram shows the calculation process for the height from the concrete surface to the prism of the measurement target of the marking robot. [Figure 11] This is a flowchart showing the process for calculating the relative height between the reference point and the marking robot. [Figure 12] This map shows the relationship between the robot and each measurement point. [Figure 13] This is a diagram illustrating the method for calculating measured values. [Figure 14] This is a flowchart for measuring and printing floor height. [Figure 15] This is a flowchart for measuring and printing floor height. [Figure 16] This is a flowchart showing the process for measuring floor height and calculating incline. [Figure 17] This is a flowchart for the process of converting measurement data into a two-dimensional code. [Figure 18] This figure shows measurement data in CSV format. [Figure 19] This figure shows the display screen for a two-dimensional code. [Figure 20] This is a diagram showing the floor height menu selection screen. [Figure 21] This is a diagram showing the reference height measurement screen. [Figure 22] This diagram shows the prism height measurement screen. [Figure 23] This is a diagram showing the robot height measurement confirmation screen. [Figure 24] This is a diagram showing the robot's height measurement screen. [Figure 25] This is a diagram showing the reference measurement results screen. [Figure 26] This is a diagram showing the measurement point selection screen. [Figure 27] This is a diagram showing the measurement point confirmation screen. [Figure 28] This is a diagram showing the screen during floor height measurement. [Figure 29] This is a diagram showing the floor height measurement results screen. [Figure 30] This is a mode transition diagram for floor height measurement. [Modes for carrying out the invention]

[0010] Hereafter, embodiments for carrying out the present invention will be described in detail with reference to the figures. Even seemingly flat floor surfaces at construction sites can have irregularities of several millimeters. In current site operations, on-site workers use surveying equipment to measure the unevenness (height) of the floor surface. By having robots perform this measurement, we aim to reduce manpower and labor in on-site work.

[0011] To measure floor height using a robot and determine the presence or absence of unevenness, the following operational procedures must be followed.

[0012] (1) Office work Prepare and create the drawings. Specifically, prepare drawing data that includes floor height measurement points and convert it using drawing conversion software.

[0013] (2) On-site work (2-1) Preparation The floor height measurement robot system measures both the reference height and the robot's height. Here, robot height refers to the height from the floor on which the robot is installed to the measurement target installed on the robot. Just like reference centers and known points, a reference height is determined at the site. The floor height measurement robot system measures the reference height using a measurement target whose position is optically measured by a tracking type three-dimensional measuring instrument. This allows the floor height measurement robot system to know the reference height in the surveying instrument coordinate system. Furthermore, due to differences between robots, such as the degree of wear on their tires, the height of each robot varies. Therefore, the floor height measurement robot system measures and calculates the height of the robot's measurement target relative to the floor (the robot's height). However, if the deviation in robot height due to differences between robots is negligible, the floor height may be calculated using the robot's height as a fixed value.

[0014] (2-2) Measuring floor height The floor height measurement robot system operates by having the robot move along the floor surface and measuring the height of a measurement target installed on the robot at the work site location corresponding to the measurement point on the drawing, and calculating the floor height relative to the floor level. The calculated result is displayed on the display unit as a two-dimensional code (e.g., QR code®), and the data can be extracted without using a medium such as a USB (Universal Serial Bus) memory.

[0015] (3) Office work To verify the measurement results, the data read from the QR code is sent to a computer via email or other means, and then edited using spreadsheet software. The following describes the floor height measurement robot system 1 for performing these tasks.

[0016] Figure 1 shows the functional configuration of the floor height measurement robot system 1. Figure 2 is a schematic perspective view of the marking robot 2. The floor height measuring robot system 1 disclosed in this embodiment includes a marking robot 2 that travels around the work site based on position information measured by a tracking type three-dimensional measuring instrument 4, and a controller 3 operated by the operator of the marking robot 2. This marking robot 2 is also a robot that measures the height of the floor surface.

[0017] As shown in Figure 2, the marking robot 2 comprises a frame 20, a printer 22, a printer movement unit 212, a marking robot control unit 210, a travel drive unit 211, and wheels 21F and 21R. The travel drive unit 211 moves the frame 20 by driving the wheels 21F. In other words, the frame 20, the travel drive unit 211, and the wheels 21F and 21R function as means of travel that move on the floor surface.

[0018] The printer movement unit 212 allows the printer 22 and measurement target 23 to move forward, backward, left, right, up, and down relative to the frame 20. In other words, the printer movement unit 212 is a means of movement that supports the printer 22 and measurement target 23 so that they can move. The printer 22 has a print head and performs marking prints on the floor surface. In other words, the printer 22 functions as a printing means for printing on the floor surface. The marking robot control unit 210 causes the printer 22 to print information on the height related to the unevenness of the floor surface, and a message indicating that the height of the floor surface has deviated from a predetermined range. The marking robot control unit 210 does not need to print information on the height of the floor surface if the height of the floor surface is within the predetermined range. Furthermore, the marking robot control unit 210 controls the printer 22, the printer movement unit 212, and the travel drive unit 211.

[0019] The measurement target 23 is configured, for example, as a prism, and its position is optically measured by the tracking type three-dimensional measuring instrument 4. The measurement target 23 is installed vertically above the printer 22. Therefore, the position of the measurement target 23 indicates the printing position of the printer 22.

[0020] Returning to Figure 1, let's continue the explanation. The tracking type three-dimensional measuring instrument 4 is, for example, an automatic tracking type three-dimensional measuring means and surveying instrument that measures the reference center and / or known points of the work site, as well as the position and height of the marking robot 2 at the work site, and notifies the marking robot control unit 210 of the measurement results of the position and height. The tracking type three-dimensional measuring instrument 4 is a three-dimensional measuring means that measures the position and height of the object to be measured in the surveying instrument coordinate system.

[0021] The controller 3 communicates with the marking robot control unit 210 of the marking robot 2 and instructs the marking robot control unit 210 to perform floor height measurement processing. The marking robot control unit 210 transmits and receives information between the tracking type three-dimensional measuring instrument 4 and the controller 3 using the communication unit 24. The marking robot control unit 210 stores measurement point information of the floor surface height in a memory unit (not shown). The marking robot control unit 210 causes the marking robot 2 to travel on the floor surface to the position of each measurement point, and causes the tracking type three-dimensional measuring instrument 4 to measure the position and height of the measurement target 23 installed on the marking robot 2 at each measurement point on the floor surface. The height calculation unit 214 calculates the height of the floor surface as seen from the floor level (FL±0) at the measurement point, using the height of the measurement target 23 of the marking robot 2 measured by the tracking type three-dimensional measuring instrument 4 when the marking robot 2 is located at the measurement point. The height determination unit 215 determines whether the floor height calculated by the height calculation unit 214 is acceptable. The marking robot control unit 210 prints the floor height information, as viewed from the floor level (FL±0), onto the floor surface.

[0022] When the controller 3 receives the measurement point information created by the measurement point information creation unit 52 from the field management server 53, it displays an editing screen for the worker to edit the editable information. Based on the operation results on the editing screen, the controller 3 generates customized measurement point information and sends it to the marking robot control unit 210.

[0023] According to the floor surface height measurement robot system 1 described herein, the marking robot 2 measures height information related to the unevenness of the floor surface and prints that height information on the floor surface, thereby automating the measurement of unevenness of the floor surface.

[0024] Controller 3 Controller 3 will now be described. Controller 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.

[0025] Controller 3 communicates bidirectionally with the marking robot 2 and also with the tracking type 3D measuring instrument 4. Controller 3 acquires measurement point information from the measurement point information creation unit 52 and transmits customized measurement point information to the marking robot 2. The measurement point information creation unit 52 creates marking information based on 3D CAD data acquired from the CAD data storage unit 51, which stores 3D CAD data. The marking robot 2 moves to the measurement points using the customized measurement point information and prints height information related to the unevenness of the floor surface measured by the tracking type 3D measuring instrument 4 onto the floor surface.

[0026] The controller 3 includes, for example, a processor 31, RAM 32, a large-capacity storage unit 33, a touch panel display 34, and a communication unit 35, and each of these circuit units is connected to each other via a bus so that they can communicate with one another. The processor 31, acting as an arithmetic unit, is not limited to a CPU (Central Processing Unit); it may also be a DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), etc. Furthermore, the controller 3 may be equipped with multiple arithmetic units.

[0027] RAM32 stores computer programs and data that are read and written by the processor 31. RAM32 is composed of, for example, DRAM (Dynamic RAM) or SRAM (Static RAM). The large-capacity storage unit 33 is composed of relatively large-capacity storage devices, such as flash memory, hard disks, magnetic tapes, optical disks, and magneto-optical disks.

[0028] The touch panel display 34 is constructed by stacking a transparent touch panel on top of a display. The touch panel display 34 displays various information and also receives operation information from the operator.

[0029] The communication unit 35 is a device that communicates with the marking robot 2, the tracking type three-dimensional measuring instrument 4, the measurement point information creation unit 52, and the site management server 53, 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.

[0030] 《Marking Robot 2》 The following describes the marking robot 2. The marking robot 2 is a robot that is deployed at a work site, moves to a predetermined marking position, and automatically performs marking and printing. Examples of work sites include construction sites for buildings, civil engineering sites for roads, etc.

[0031] The marking robot 2 autonomously moves according to the operation commands entered by the operator into the controller 3, using the 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 measurement point, the tracking type three-dimensional measuring instrument 4 measures the height of the measurement target 23 installed on the marking robot 2, calculates the height information related to the unevenness of the floor surface at the measurement point, and prints the height information related to the unevenness of the floor surface on the floor surface using the printer 22.

[0032] The marking robot 2 comprises a frame 20, wheels 21F, 21R, a printer 22, a measurement target 23, a communication unit 24, and operation buttons 25. The marking robot 2 further comprises a forward sensor 26, bumper sensors 27F, 27R, a downward sensor 28, a marking robot control unit 210, a travel drive unit 211, a printer movement unit 212, a measurement target drive unit 213, and a battery (not shown).

[0033] The marking robot control unit 210 is a device that stores position information of measurement points and provides overall control of the marking robot 2. The marking robot control unit 210 is composed of a height calculation unit 214 and a height determination unit 215. The printer 22 is a device that prints on the floor surface under the control of the marking robot control unit 210. The travel drive unit 211 is a device that moves the marking robot 2 by traveling. The printer movement unit 212 is a device that moves the printer 22, which is mounted on the frame 20, in a two-dimensional or three-dimensional direction.

[0034] The measurement target 23 can be installed on the marking robot 2, or it can be removed from the marking robot 2 and used separately. To pre-measure the reference height, the operator can remove the measurement target 23 from the marking robot 2, place it at the desired position and height, and then use the tracking type three-dimensional measuring instrument 4 to measure the desired position and height where the measurement target 23 is placed. The measurement target 23 can also be removed from the marking robot 2 and used when actually measuring walls, floors, etc. After the actual measurement of walls, floors, etc. is completed, the measurement target 23 is reinstalled on the marking robot 2.

[0035] 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 arithmetic processing unit is connected to the controller 3 via a communication unit 24 so as to be able to communicate.

[0036] The memory unit stores the control program for the overall control of the marking robot 2, measurement point information, and information necessary for its operation. The arithmetic processing unit moves the marking robot 2 to the position of the measurement point according to the control program, aligns the printer 22 and the measurement target 23 to the position of the measurement point, measures the height of the measurement target 23 placed on the marking robot 2, and calculates the height of the floor surface at the measurement point. The arithmetic processing unit further causes the printer 22 to print height information related to the unevenness of the floor surface onto the floor surface.

[0037] The entire printer 22 moves back and forth and left and right on the flat surface (floor) of the work area 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 movement unit 212, a 3-axis arm robot may be mounted on the travel drive unit 211, and a print head may be attached to the tip of the arm of the 3-axis arm robot.

[0038] The frame 20 is provided with wheels 21F and 21R at its bottom. The marking robot 2 moves when the driving unit 211 drives the wheels 21F and 21R. The driving unit 211 may be a front-wheel drive system that drives either the front or rear wheels 21F and 21R, or a rear-wheel drive system that drives all of the wheels 21F and 21R. The driving unit 211 may also drive crawlers instead of the wheels 21F and 21R.

[0039] The operation buttons 25 are located on the frame 20 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).

[0040] The marking robot 2 is equipped with a forward sensor 26, bumper sensors 27F and 27R, and a downward sensor 28 to ensure safety at 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 provided on bumpers 201 located at the front and rear of the frame 20. They detect when the bumpers 201 come into contact with an object. Figure 2 shows only the front bumper 201. The downward sensor 28 detects unevenness and openings on the floor surface of the work site. The marking robot 2 may also be equipped with sensors other than those shown, such as a three-dimensional camera, ultrasonic sensor, or radiation thermometer.

[0041] As described above, the printer movement unit 212 is positioned on the frame 20, with the printer 22 mounted below it. The printer movement unit 212 moves and positions the printer 22 and the measurement target 23 to the measurement point 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 direction (planar direction) of XY as well as in the Z direction (vertical direction). The reason for this mobility is to position the printer 22 and the measurement target 23 at the measurement point. Furthermore, the measurement target drive unit 213 keeps the position of the measurement target 23 at a predetermined height relative to the floor surface at all times.

[0042] The marking robot control unit 210 moves and positions the marking robot 2 to each measurement point based on the information of the measurement points 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 position of a measurement point, the marking robot control unit 210 uses the printer movement unit 212 to position the printer 22 at the measurement point with high precision. Then, the tracking type three-dimensional measuring instrument 4 measures the height of the measurement target 23 installed on the marking robot 2, and the height calculation unit 214 calculates the height of the floor surface relative to the floor level. After that, the printer 22 prints height information related to the unevenness of the floor surface onto the floor surface. The height calculation unit 214 functions as a height calculation means for calculating the height of the floor surface.

[0043] The aforementioned tracking-type three-dimensional measuring instrument 4 tracks the measurement target 23 installed on the marking robot 2 using laser light. The tracking-type three-dimensional measuring instrument 4 uses the reflected light from the prism of the measurement target 23 to measure the position and height of the measurement target 23 installed on the marking robot 2 in three-dimensional space, that is, the position and height of the marking robot 2.

[0044] The tracking-type three-dimensional measuring instrument 4 accurately measures the position and height of the marking robot 2 by measuring the position and height of the measurement target 23 installed on 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 measurement point. It is also transmitted to the controller 3 as needed based on command information from the controller 3.

[0045] As described above, the controller 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 controller 3 has a function to edit (customize) the measurement point information based on the measurement point information received from the marking robot control unit 210, through operation by the operator on the controller 3 side. Therefore, the controller 3 transmits and receives information with the marking robot control unit 210 and can share the measurement point information with the marking robot control unit 210. The controller 3 has a function to take in the measurement point 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.

[0046] 《Configuration of the robot control system》 The configuration of the controller 3 according to this embodiment will be described below with reference to Figure 3. Figure 3 is a block diagram of the controller 3.

[0047] As shown in Figure 3, the controller 3 includes a processor 31 that controls operation, a large-capacity storage unit 33 that stores various programs and data, a communication unit 35 that communicates with external devices, and a touch panel display 34 that serves as both an input means and a display means. The processor 31 implements an operation reception unit 31a, a reading unit 31b, an instrument point setting unit 31c, a measurement point setting unit 31d, a surveying instrument operation unit 31e, a robot operation unit 31f, a travel range setting unit 31g, a route setting unit 31h, a communication control unit 31i, and a screen control unit 31j.

[0048] The operation reception unit 31a receives operations from the operator. The reading unit 31b reads measurement point data 332 from an external device. In this embodiment, it reads measurement point information from the measurement point information creation unit 52. The instrument point setting unit 31c performs a process to match the coordinate position of the instrument point in the design with the coordinate position of the instrument point at the actual work site.

[0049] The measurement point setting unit 31d sets the marking robot 2 to perform height measurements related to the unevenness of the floor surface at any given measurement point. This measurement point information may be predetermined or specified by the user. The surveying instrument control unit 31e operates the tracking type three-dimensional measuring instrument 4, which is a surveying instrument. The robot operation unit 31f is a robot operation means for operating the marking robot 2. The robot operation unit 31f is an operation means that instructs the marking robot 2 to move to the coordinates of the measurement point information in the coordinates of the CAD drawing (floor drawing) using the travel drive unit 211. The measurement point information may be predetermined or specified by the user, and is not limited to this.

[0050] The travel range setting unit 31g sets the travel range of the marking robot 2. The route setting unit 31h sets the travel route of the marking robot 2 for the measurement points where measurements have been set, for example, by using Dijkstra's algorithm. The communication control unit 31i controls the operation of the communication unit 35.

[0051] The screen control unit 31j creates a display screen and displays it on the touch panel display 34.

[0052] The processor 31 consists of a CPU (Central Processing Unit), and these functions are achieved by executing a robot control program 331 that is pre-stored in the large-capacity storage unit 33. The large-capacity storage unit 33 has the robot control program 331 pre-stored in it. The large-capacity storage unit 33 also stores, for example, measurement point data 332 and travel path data 333 that specifies the travel path of the marking robot 2.

[0053] 《Controller 3 Operation》 The operation of controller 3 will be explained below with reference to Figure 4. Figure 4 is a flowchart of the operation of controller 3. Figure 4 shows the operation when creating measurement point data 332 from CAD drawing data including a work site drawing.

[0054] The creator of the measurement point data 332, for example, when obtaining CAD drawing data including work site drawings from the client of the work site, loads the CAD drawing data into the measurement point information creation unit 52 and creates measurement point data 332 based on the CAD drawing data. The operator of the controller 3 loads the measurement point data 332 into the controller 3, creates travel path data 333 using the measurement point data 332, and performs the height measurement work related to the unevenness of the floor surface relative to the floor level. Figure 4A shows the process of creating the measurement point data 332 in that case. Figure 4B shows an example of measurement work by the marking robot 2.

[0055] As shown in Figure 4A, the creator of the measurement point data 332 operates the measurement point information creation unit 52 to start creating the measurement point data 332. At this point, the measurement point information creation unit 52 first reads the CAD drawing data based on the operator's input (step S405).

[0056] Next, the measurement point information creation unit 52 specifies and automatically imports the reference center and measurement points based on the operator's input (step S410). The reference center refers to the line that serves as the reference when constructing a building. A measurement point refers to a point where the height of the floor surface is measured. Here, the operator specifies the reference center and measurement points using the CAD drawing (floor plan) displayed on the controller 3.

[0057] Next, the measurement point information creation unit 52 accepts the confirmation and editing of the names and coordinate values ​​of each part on the CAD drawing (floor plan drawing) based on the operator's input (step S415). The names of each part on the CAD drawing refer to names such as the reference center and measurement points. Here, the operator confirms and edits the names of the reference center and measurement points, and confirms and edits the coordinate values ​​of the reference center and measurement points on the CAD drawing displayed on the controller 3.

[0058] Next, the measurement point information creation unit 52 outputs measurement point data 332 in a predetermined data format to the field management server 53 based on the operator's input, and has the field management server 53 save it (step S420), thus ending the process shown in Figure 4A.

[0059] Figure 4B is a flowchart showing the operation of controller 3. After the measurement point data 332 is saved to the site management server 53, the operator of the controller 3 can operate the controller 3 at any time to start the measurement work by the marking robot 2.

[0060] At this point, the processor 31 of the controller 3 first reads the measurement point data 332 from the field management server 53 based on the operator's input (step S505). The measurement point data 332 is stored in the large-capacity storage unit 33. Next, the processor 31 performs measurement and coordinate transformation processing of known points and reference centers based on the operator's input (step S510). Here, the processor 31 transforms the coordinates of known points and / or reference centers in the CAD drawing coordinate system into the surveying instrument's coordinate system.

[0061] Next, the processor 31 specifies the travel range of the marking robot 2 based on the operator's input (step S515). Next, the processor 31 automatically creates data representing the travel path and route of the marking robot 2 based on the operator's actions (step S520).

[0062] Next, once the measurement process by the marking robot 2 is complete, the processor 31 registers the measured data (step S525) and terminates the process shown in Figure 4B. Such a controller 3 can automatically create data representing the travel path and route of the marking robot 2, thereby reducing the burden on the operator.

[0063] Figure 5 shows the uneven surface of the concrete surface 70. When measuring the height of the concrete surface 70, there is first a design height that will be the floor height when the building is completed. This set floor height is the floor level and is expressed as FL±0. In Figure 5, FL±0 is marked on column 71.

[0064] However, since the position of FL±0 often becomes undeterminable once the building is completed, FL+1000, which is the floor height (floor level) at the time of completion plus 1000mm, is generally used as the reference height. In some cases, FL+900, which is the floor height plus 900mm, is used as the reference height. The floor height measurement robot system 1 measures the reference height in the surveying instrument coordinate system, then measures the height of each measurement point on the floor surface relative to the floor level (FL±0), and records the height of each measurement point. The measurement points in Figure 5 are at heights of -99mm, -104mm, -98mm, and -101mm from left to right.

[0065] 《Measurement of reference height (FL+1000)》 At the work site, just like with reference centers and known points, a reference height (a predetermined value relative to the floor level: FL+1000) is determined. By subtracting the predetermined value (1000mm) from this reference height, the height of FL±0 is calculated.

[0066] Figure 6 shows the calculation process for the height of FL±0. A tracking-type three-dimensional measuring instrument 4 is installed at a predetermined position on the concrete surface 70. A measurement target 23a is installed on the column 71 at a reference height of FL+1000. The controller 3 controls the tracking-type three-dimensional measuring instrument 4, and the relative height H between the tracking-type three-dimensional measuring instrument 4 and the measurement target 23a. KThe measurement is instructed. At this time, the tracking type three-dimensional measuring instrument 4 transmits the XYZ coordinates of the measurement target 23a in the surveying instrument coordinate system to the controller 3. The surveying instrument coordinate system is a three-dimensional coordinate system with the position of the tracking type three-dimensional measuring instrument 4 as the origin, and the Z axis is set vertically upward. The X axis is set on the front side of the paper. The Y axis is set on the right side of the paper. In the following, "height" refers to the value of the Z axis in the surveying instrument coordinate system unless otherwise specified. The processor 31 of controller 3 receives the measured height H K By subtracting the predetermined value H0 = 1000 mm from this, the height of the floor level (FL±0) in the surveying instrument coordinate system is calculated. The height of the floor level in the surveying instrument coordinate system is (H K The height is represented by -H0). K If the height is 950mm, the floor level is -50mm.

[0067] Figure 7 is a flowchart of the process for calculating the height of FL±0. First, the worker places the measurement target 23a at a height of FL+1000 on column 71 (step S40). The height of FL+1000 is the reference height for the work site and is therefore also called the reference height. The processor 31 of the controller 3 measures the measurement target 23a, which is set up at a reference height of FL+1000, using the tracking type three-dimensional measuring instrument 4 (step S41). Then, the processor 31 measures the height H of the measurement target 23a. K From a predetermined value H C Subtracting 1000mm, the height of FL±0 is calculated (step S42), and the process shown in Figure 6 is terminated. If multiple heights of FL+1000 have been measured at this time, the processor 31 calculates the average value. Note that the processor 31 is not limited to the average value; it may also calculate the median or mode. When the position of the tracking type three-dimensional measuring instrument 4 is changed, it is necessary to remeasure the height of the measurement target 23a installed at FL+1000 and then recalculate the height of FL±0.

[0068] Height measurement of the 2nd marking robot. The height of the marking-out robot 2 may vary due to differences in the robot body such as assembly accuracy of the marking-out robot 2 and aging degradation. The height of the marking-out robot 2 refers to the distance from the floor surface on which the marking-out robot 2 is installed to the center of the prism of the measurement target 23 installed on the marking-out robot 2. In order to accurately calculate the height of the marking-out robot 2, the height H from the concrete surface 70 to the prism of the measurement target 23 installed on the marking-out robot 2 at the reference point 72 R is calculated. When measurement is performed with the tracking-type three-dimensional measuring instrument 4, the coordinates of the center of the prism of the measurement target 23a in the surveying instrument coordinate system can be measured. The coordinate H of the center of the prism of the measurement target 23a installed on the floor surface P2 to calculate the height H of the concrete surface at the reference point 72 from F , it is necessary to subtract the pedestal height H at which the prism of the measurement target 23a is mounted P from the center coordinate H of the prism of the measurement target 23a P2 . The pedestal height H P refers to the distance from the floor surface on which the measurement target 23a is installed to the center of the prism of the measurement target 23a. Therefore, after measuring / calculating the height H of the center of the prism of the measurement target 23a placed at the reference point 72 of the concrete surface 70 P2 , the height H from the concrete surface 70 to the prism of the measurement target 23 installed on the marking-out robot 2 R is calculated.

[0069] FIG. 8 is a diagram illustrating the calculation operation for the height H of the concrete surface 70 at the reference point 72 F . At this time, the measurement target 23a is placed at the reference point 72 of the concrete surface 70. The measurement target 23a is configured by mounting a prism on a pedestal. The pedestal height H P is the height from the concrete surface 70 to the center of the prism of the measurement target 23a, and is a fixed value. The height H P2This is the height of the center of the prism of the measurement target 23a in the surveying instrument coordinate system, as measured by the tracking type three-dimensional measuring instrument 4, and is a value measured by the tracking type three-dimensional measuring instrument 4. Height H of the concrete surface at reference point 72 F This is the height in the surveying instrument's coordinate system, and is the measured height H. P2 Therefore, the base height H is a fixed value. P This is the result of subtracting [a certain value]. Base height H P 20mm, height H P2 When the height is -79mm, the height of the concrete surface at reference point 72 is H. F It can be calculated as -99mm.

[0070] Figure 9 shows the height H of the concrete surface at reference point 72. F This is a flowchart of the calculation process. First, the worker places the measurement target 23a at the reference point 72 on the concrete surface 70 (step S60). Here, the reference point 72 refers to a predetermined point that serves as the reference for measuring the height of the concrete surface 70.

[0071] Next, the processor 31 uses the tracking type three-dimensional measuring instrument 4 to determine the height H of the measurement target 23a placed at the reference point 72. P2 Measure the height H of the measurement target 23a (step S61). P2 This represents the height in the surveying instrument's coordinate system.

[0072] Then, the processor 31 determines the height H of the center position of the prism of the measured target 23a. P2 From the base height H P Subtracting this, the concrete surface height H at the reference point. F Calculate (step S62) and terminate the process shown in Figure 9. Pedestal height H P This is a default value determined by the product specifications, etc. At this time, taking into account the shaking of the building at the site, the height H of the measurement target 23a installed at reference point 72 is also considered. P2 If multiple measurements are taken, the processor 31 calculates the average value of those measurements. Furthermore, the processor 31 is not limited to these average values; it also calculates the height H of the measurement target 23a.P2 You may measure multiple values ​​and calculate the median or mode.

[0073] Figure 10 shows the height H from the concrete surface 70 to the prism of the measurement target 23 of the marking robot 2. R This diagram shows the calculation process. When the marking robot 2 is moved to the reference point 72, the tracking type three-dimensional measuring instrument 4 determines the prism height H of the marking robot 2's measurement target 23. R2 The height of the concrete surface at reference point 72, H, can be measured. F This has already been calculated using the flowchart in Figure 9. And the height H R2 From height H F Subtracting this gives the height H from the concrete surface 70 to the prism of the measurement target 23 of the marking robot 2. R This can be calculated. In the surveying instrument coordinate system, the height H of the prism of the measurement target 23 of the marking robot 2. R2 The height of the concrete surface at reference point 72 in the surveying instrument coordinate system is -29mm. F When the height is -149mm, the height of the prism H of the measurement target 23 of the marking robot 2. R This is calculated as +120mm. If the work site has dust, stones, puddles, etc., and the environment is unsuitable for measurement, the theoretical design value for the height of the marking robot 2 may be used, or the previously measured value may be used.

[0074] Figure 11 is a flowchart showing the calculation process for the relative height between the reference point 72 and the marking robot 2. First, the processor 31 moves the marking robot 2 onto the reference point 72 (step S70). Then, the processor 31 sets the prism height H of the measurement target 23 of the marking robot 2. R2 Measure the height (step S71). R2 This is the height of the marking robot 2. The processor 31 determines the height H of the floor surface (concrete surface) at the reference point 72. F And the height H of the prism of the measurement target 23 of the marking robot 2.R2 The difference between this and the height H from the concrete surface 70 to the prism of the measurement target 23 of the marking robot 2. R After calculating (step S72), the process shown in Figure 11 is terminated. The height can be accurately obtained by measuring the height of the marking robot 2 each time.

[0075] The processor 31 records the measurement data for the reference height and the measurement data for the robot height in the drawing data. The update timing and target data for the drawing data are shown below.

[0076] (1) Measurement of reference height The floor height measurement robot system 1 updates the specified reference height value, the measured reference height value, and the reference height correction value once it has successfully measured the reference height. The specified reference height value is the reference height as seen from the floor level, for example, 1000 mm. The measured reference height value is the measured value of the reference height in the surveying instrument coordinate system. The floor height measurement robot system 1 further updates the actual floor height value if the measured reference height value, the base measurement value, and the robot measurement value have already been measured. Note that even with the same drawing data, the position of the tracking type three-dimensional measuring instrument 4 may move due to obstacles such as columns. In this case, there is a high possibility that the height of the surveying instrument coordinate system will change, and the updated actual floor height value may be retained without being updated.

[0077] (2) Measurement of floor height The floor height measurement robot system 1 updates the floor height data in the drawing data once it has successfully measured the height of the prism placed on the floor at reference point 72. Alternatively, the program may retain the floor height internally after a successful measurement and update the drawing data after the robot height measurement is successful.

[0078] (3) Robot height measurement If the floor height measurement robot system 1 successfully measures the robot's height relative to the floor, it updates the robot height measurement value using the base height measurement value stored in the drawing data or within the program.

[0079] Figure 12 is a map showing the relationship between the marking robot 2 and each measurement point. Figure 12 shows a two-dimensional map of the concrete surface 70 viewed from above. Measurement points 73 are placed on the concrete surface 70, and a marking robot 2 is positioned near each point. The marking robot 2 patrols each measurement point 73, measuring the height of the concrete surface 70 relative to the floor level (FL±0) at each measurement point 73. These measurement points are created on CAD drawing data and converted from the CAD drawing coordinate system to the surveying instrument coordinate system.

[0080] Figure 13 is a diagram illustrating the method for calculating measured values. Height H A This is the height of the floor level (FL±0) in the surveying instrument coordinate system. Height H R2 This is the height of the measurement target 23 of the marking robot 2 in the surveying instrument coordinate system. Robot height H R This is the height of the measurement target 23 of the marking robot 2 relative to the concrete surface 70, as measured / calculated at reference point 72. Height H M This is the height of the concrete surface 70 relative to the floor level (FL±0), and is the measured value of the height of the concrete surface 70. The measured height H M This can be calculated using the following formula (1). H M =( H R2 -H R )-H A … (1)

[0081] Here, the height H A -50mm, height H R2 -29mm, height H R When it is +120mm, the measured height H MThe value is -99mm. Note that at construction sites, the position of the tracking-type 3D measuring instrument 4 may be changed to avoid obstacles such as columns. In this case, changing the position of the tracking-type 3D measuring instrument 4 changes the height of the origin of the surveying instrument's coordinate system. Therefore, if the height values ​​before and after changing the position of the tracking-type 3D measuring instrument 4 are confused and used in calculations, correct measurement results will not be obtained. The values ​​before the position change of the tracking-type 3D measuring instrument 4 must not be updated with the values ​​after the position change of the tracking-type 3D measuring instrument 4. However, height H R This is the height of the measurement target 23 of the marking robot 2, and it is unlikely that the value will change significantly in a short period of time. Therefore, the height H of the measurement target 23 of the marking robot 2 is measured before and after the position of the tracking type three-dimensional measuring instrument 4 is changed. R Using the same value has little effect on the measurement results.

[0082] Robot movements If there are stones or other obstacles near the measurement point, the measurement result may be inaccurate. Therefore, when measuring floor height, the height of the floor surface is measured at multiple points in the following pattern, and the midpoint, average, or minimum value of these multiple measurements is used as the floor height at that measurement point. This reduces measurement errors.

[0083] (1) Measure the height at the target coordinates and at two points in front of it. The distance between each measurement point is, for example, one-quarter of the circumference of the wheels of the marking robot 2, which is a distance that allows it to overcome small stones. The distance between each measurement point should be determined based on the radius of the wheels of the marking robot 2 and the size of obstacles (such as stones) expected at the site.

[0084] (2) The marking robot 2 moves from an arbitrary current position on the drawing to the vicinity of each measurement point 73, for example, up to one-quarter of the circumference of the marking robot 2's wheels. The position after this movement is designated as the first measurement point, the midpoint between the first measurement point and the target coordinates is designated as the second measurement point, and the target coordinates are designated as the third measurement point.

[0085] (3) If the distance from the current position of the marking robot 2 to the target coordinates is less than the minimum travel distance setting, the height of only the current position will be measured.

[0086] (4) If the distance from the current position of the marking robot 2 to the target coordinates is greater than or equal to the minimum travel distance setting, but the minimum travel distance cannot be met if an intermediate point is set, the current position of the marking robot 2 will be set as the first measurement point and the target coordinates as the second measurement point, and the height will be measured at two points. If height is measured at three points, the height measurement can be the average of all measurements or the median. If height is measured at two points, the height measurement can be the average of all measurements or either the height measurement from the first point or the height measurement from the second point.

[0087] Figure 14 is a flowchart showing the measurement and printing process of the floor height. It should be assumed that the measurement of the reference height (FL+1000) has been completed before commencing the measurement and printing of the floor height. In step S10, the robot operation unit 31f repeats the processing up to S15 for the measurement point of the object to be moved.

[0088] The robot operation unit 31f instructs the marking robot control unit 210 to move the marking robot 2 to the measurement point (step S11). The marking robot control unit 210 uses the tracking type three-dimensional measuring instrument 4 to measure the height of the measurement target 23 of the marking robot 2 (step S12). Then, the height calculation unit 214 calculates the height of the concrete surface 70 at the measurement point relative to the floor level (FL±0) (step S13).

[0089] The height determination unit 215 determines whether the height of the measured point on the measured concrete surface 70 is acceptable (step S14). Here, an acceptable height means that the height is within a predetermined range. If the height of the measured point on the measured concrete surface 70 is acceptable, the unit 215 proceeds to step S16. If it is unacceptable, in step S15, it causes the marking robot 2 to print a message indicating that it is unacceptable, and then proceeds to step S16.

[0090] In step S16, the robot operation unit 31f determines whether it has repeated the process for all measurement points of the moving object. If there are any measurement points that have not yet been processed, the robot operation unit 31f returns to step S10 and targets the next measurement point. If the robot operation unit 31f has processed all measurement points, it terminates the process shown in Figure 14. Note that the processes performed primarily by the robot in Figure 14 may also be performed primarily by the processor 31, and are not limited to that. Also, the loop processing of measurement points performed by the robot operation unit 31f may also be performed autonomously by the marking robot control unit 210, and are not limited to that.

[0091] Figure 15 is a flowchart showing the measurement and printing process of the floor height. In this process, the floor height measurement robot system 1 uses the marking robot 2 to print marking information at the marking points based on the marking point data instead of the measurement point, and also measures the floor height. In step S20, the robot operation unit 31f repeats the process up to S28 for the ink point to be moved.

[0092] The robot operation unit 31f instructs the marking robot control unit 210 to move the marking robot 2 to the marking point (step S21). The marking robot control unit 210 uses the tracking type three-dimensional measuring instrument 4 to print the marking information on the floor surface (step S22) and measures the height of the marking robot 2's measurement target 23 (step S23). Then, the height calculation unit 214 calculates the height of the measurement point on the concrete surface 70 relative to the floor level (FL±0) (step S24).

[0093] The height determination unit 215 determines whether the height of the measured point on the measured concrete surface 70 is acceptable (step S25). Here, an acceptable height means that the height is within a predetermined range (for example, within the range of -98 mm to -102 mm). If the height of the measured point on the measured concrete surface 70 is acceptable (Yes), the height determination unit 215 prints "acceptable" on the floor surface (step S26) and proceeds to step S28. If the height of the measured point on the measured concrete surface 70 is unacceptable (No), the height determination unit 215 prints "unacceptable" on the floor surface in step S26 and proceeds to step S28. Note that if the "acceptable" or "unacceptable" message is printed on top of the marking information, the characters will overlap, so the height determination unit 215 does not need to print in steps S26 and S27.

[0094] In step S28, the robot operation unit 31f determines whether it has repeated the process for all the ink points on the moving object. If there are any ink points that have not yet been processed, the robot operation unit 31f returns to step S20 and targets the next ink point. If the robot operation unit 31f has processed all the ink points, it terminates the process shown in Figure 15.

[0095] The marking robot control unit 210 prints a message if, at the location of each measurement point, the tracking type three-dimensional measuring instrument 4 measures the measurement target 23 of the marking robot 2 and the height of the floor calculated by the height calculation unit 214 deviates from a predetermined range. Furthermore, the marking robot control unit 210 does not print a message if, at the location of each measurement point, the tracking type three-dimensional measuring instrument 4 measures the measurement target 23 of the marking robot 2 and the height of the floor calculated by the height calculation unit 214 is within a predetermined range.

[0096] Furthermore, the processes primarily executed by the marking robot control unit 210 in Figure 15 may also be primarily executed by the processor 31, and are not limited to that. Also, the loop processing of measurement points performed by the robot operation unit 31f may also be autonomously executed by the marking robot control unit 210, and are not limited to that.

[0097] 《Measurement of inclination at the measurement point》 By measuring four points around the measurement point, it is possible to calculate the slope at the measurement point and print the direction of the slope (for example, how many millimeters the upper right corner is lower). Note that the method is not limited to four points around the measurement point; the slope at the measurement point can be calculated by measuring two or more points. While measuring the height of each point on a grid allows for measuring the overall tilt of the floor, measuring four points allows for measuring the tilt at any given point before measuring all points. Furthermore, if a tilt is determined by measuring the heights of four points, it becomes possible to select the mean, median, or mode of the four points.

[0098] Figure 16 is a flowchart showing the process for measuring floor height and calculating incline. In step S30, the robot operation unit 31f repeats the processing up to S36 for the measurement point of the object to be moved.

[0099] The robot operation unit 31f instructs the marking robot control unit 210 to move the marking robot 2 to the measurement point (step S31). The marking robot control unit 210 uses the tracking type three-dimensional measuring instrument 4 to measure the height of the prism of the measurement target 23 of the marking robot 2 at four points around the measurement point (step S32). Next, the height calculation unit 214 calculates the height of the floor surface at the four points around the measurement point (step S33).

[0100] The height calculation unit 214 calculates inclination information from the floor heights of four points on the concrete surface 70 calculated in step S33 (step S34). The marking robot control unit 210 prints the average value of the floor height and the inclination (step S35) and proceeds to step S36.

[0101] In step S36, the robot operation unit 31f determines whether it has repeated the process for all measurement points of the moving object. If there are any measurement points that have not yet been processed, the robot operation unit 31f returns to step S30 and targets the next measurement point. If the robot operation unit 31f has processed all measurement points, it terminates the process shown in Figure 16. Note that the processes performed primarily by the robot in Figure 16 may also be performed primarily by the processor 31, and are not limited to that. Also, the loop processing of measurement points performed by the robot operation unit 31f may also be performed autonomously by the marking robot control unit 210, and are not limited to that.

[0102] The measured data from the marking robot control unit 210 is transmitted to the controller 3. The controller 3 then displays the data on the touch panel display 34 as a two-dimensional code such as a QR code (registered trademark), allowing the data to be read and edited on the user's computer system without the need for a medium such as a USB (Universal Serial Bus) memory. A two-dimensional code is generated and displayed to enable the following intended operation.

[0103] Figure 17 is a flowchart of the process for converting measurement data into two-dimensional code. When instructed to display a QR code, the processor 31 begins the following process: The processor 31 acquires measurement data from the drawing data (step S70). Then, the processor 31 generates data in CSV (Comma Separated Values) format from the measurement data (step S71). The processor 31 encodes a two-dimensional code from the CSV data (step S72), saves the two-dimensional code (step S73), and then terminates the process shown in Figure 17. Note that the saving and display of the two-dimensional code may be performed multiple times depending on the number of measurement points.

[0104] Figure 18 shows measurement data in CSV format. The measurement data in CSV format consists of lines containing the No., X coordinate, Y coordinate, and measured value (floor height), separated by commas. This measurement data is displayed on the touch panel display 34 by the screen control unit 31j.

[0105] Figure 19 shows the measurement data screen 81. This measurement data screen 81 is displayed on the touch panel display 34 of the controller 3. The measurement data screen 81 displays a two-dimensional code 811 and an exit button 812. This measurement data screen 81 is displayed on the touch panel display 34 by the screen control unit 31j. The two-dimensional code 811 encodes the floor height information at each measurement point. By scanning and decoding this two-dimensional code 811 with the operator's terminal, the measurement data can be loaded onto the operator's terminal or other device.

[0106] Figure 20 shows the floor height menu selection screen 61. This floor height menu selection screen 61 is displayed on the touch panel display 34 of the controller 3. On the floor height menu selection screen 61, map 619 is displayed, along with the guidance message: "Please perform floor height measurement after measuring the reference height and prism height." Map 619 displays various measurement points.

[0107] The floor height menu selection screen 61 displays the following buttons: a standard height measurement button 611, a prism height measurement button 612, a "Floor Height Measurement (Measure all points)" button 613, a "Floor Height Measurement (Measure specified points)" button 614, a measurement result confirmation button 615, and a "Return to Menu" button 616.

[0108] When the reference height measurement button 611 is tapped, the touch panel display 34 of the controller 3 switches to the reference height measurement screen 62 shown in Figure 21. When the prism height measurement button 612 is tapped, the touch panel display 34 of the controller 3 switches to the prism height measurement screen 63 shown in Figure 22. When the "Floor Height Measurement (Measure All Points)" button 613 is tapped, the touch panel display 34 of the controller 3 switches to the floor height measurement screen 69 shown in Figure 28. When the "Floor Height Measurement (Specified Point Measurement)" button 614 is tapped, the touch panel display 34 of the controller 3 switches to the measurement point selection screen 67 shown in Figure 26. When the measurement result confirmation button 615 is tapped, the touch panel display 34 of the controller 3 switches to a measurement confirmation screen (not shown).

[0109] When the "Return to Menu" button 616 is tapped, the touch panel display 34 of the controller 3 switches to the menu screen (not shown) that was displayed before calling up this floor height menu selection screen 61.

[0110] Figure 21 shows the reference height measurement screen 62. This reference height measurement screen 62 is displayed on the touch panel display 34 of the controller 3. On the reference height measurement screen 62, the measurement guidance 629 is displayed, which reads: "After placing the prism at the reference height of the column (FL+1000), point the surveying instrument in the direction of the prism and press "Measure". After taking the measurement, press "Proceed to measurement confirmation." The reference height measurement screen 62 displays a +100 button 621, a -100 button 622, and a measurement results table 623. The reference height measurement screen 62 also displays a left turn button 6241, a right turn button 6242, a search button 6243, a measure button 6244, a delete selected row button 6245, a delete all button 6246, a back button 625, and a measurement confirmation button 626.

[0111] The +100 button 621 and the -100 button 622 are buttons that adjust the height (FL) value. When the +100 button 621 is tapped, the height is increased by 100. When the -100 button 622 is tapped, the height is decreased by 100. When the left turn button 6241 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the left. When the right turn button 6242 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the right. When the search button 6243 is tapped, the tracking type three-dimensional measuring instrument 4 searches for the prism position of the measurement target 23a. When the measurement button 6244 is tapped, the tracking type three-dimensional measuring instrument 4 measures the prism position of the measurement target 23a, which is set up at the reference height (FL+1000). The prism position of the measurement target 23a measured by the tracking type three-dimensional measuring instrument 4 is displayed in the measurement result table 623.

[0112] The measurement results table 623 displays the measurement results for the reference height. When any row in the measurement results table 623 is tapped, the measurement result for that row is selected. If the delete selected row button 6245 is then tapped, the selected measurement result is deleted. When the delete all button 6246 is tapped, all measurement results for the reference height are deleted.

[0113] When the back button 625 is tapped, the touch panel display 34 of the controller 3 switches back to the screen before calling up this reference height measurement screen 62. When the measurement confirmation button 626 is tapped, the touch panel display 34 of the controller 3 switches back to the reference measurement result screen 66 shown in Figure 25.

[0114] Figure 22 shows the prism height measurement screen 63. This prism height measurement screen 63 is displayed on the touch panel display 34 of the controller 3. On the prism height measurement screen 63, the measurement guidance 639 is displayed, which reads: "After setting the prism at the reference point, point the surveying instrument in the direction of the prism and press "Measure". After measurement, set the prism on the robot and press the "Proceed to Robot Height Measurement" button." The prism height measurement screen 63 displays the measurement results table 631, a left turn button 6341, a right turn button 6342, a search button 6343, a measurement button 6344, a selected row delete button 6345, a delete all button 6346, a back button 635, and a robot height measurement button 636.

[0115] When the left turn button 6341 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the left. When the right turn button 6342 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the right. When the search button 6343 is tapped, the tracking type three-dimensional measuring instrument 4 searches for the prism position of the measurement target 23a. When the measurement button 6344 is tapped, the tracking type three-dimensional measuring instrument 4 measures the prism position of the measurement target 23a. The prism position of the measurement target 23a measured by the tracking type three-dimensional measuring instrument 4 is displayed in the measurement results table 633.

[0116] The measurement results table 633 displays the measurement results for the prism height. When any row in the measurement results table 633 is tapped, the measurement result for that row is selected. If the delete selected row button 6345 is then tapped, the selected measurement result is deleted. When the delete all button 6346 is tapped, all measurement results for the reference height are deleted.

[0117] When the back button 635 is tapped, the touch panel display 34 of the controller 3 switches back to the screen that was displayed before calling up this prism height measurement screen 63. When the robot height measurement button 636 is tapped, the touch panel display 34 of the controller 3 switches back to the robot height measurement confirmation screen 64 shown in Figure 23.

[0118] Figure 23 shows the robot height measurement confirmation screen 64. This robot height measurement confirmation screen 64 is displayed on the touch panel display 34 of the controller 3. On the robot height measurement confirmation screen 64, map 649 is displayed, along with the guidance message: "Put the prism back on top of the robot and press the 'Robot Move' button." The robot height measurement confirmation screen 64 displays the prism position table 642 of the reference point measured on the prism height measurement screen 63, as well as a left turn button 6411, a right turn button 6412, a search button 6413, a back button 643, and a robot movement button 644.

[0119] When the left turn button 6411 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the left. When the right turn button 6412 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the right. When the search button 6413 is tapped, the tracking type three-dimensional measuring instrument 4 searches for the prism position of the measurement target 23.

[0120] The reference point prism position table 642 is a table that displays the coordinates of the reference point measured on the prism height measurement screen 63.

[0121] When the back button 643 is tapped, the touch panel display 34 of the controller 3 switches back to the screen that was displayed before calling up this robot height measurement confirmation screen 64. When the robot drive button 644 is tapped, the robot starts moving, and the touch panel display 34 of the controller 3 switches back to the robot height measurement screen 65 shown in Figure 24.

[0122] Figure 24 shows the robot height measurement screen 65. This robot height measurement screen 65 is displayed on the touch panel display 34 of the controller 3. During robot height measurement, screen 65 displays map 659 and provides guidance such as "Robot height measurement in progress. Please wait a moment," along with an estimated remaining time. The robot height measurement screen 65 displays a robot status label 651, a path table 652 showing the coordinates of the reference point and the intermediate points to be used, and an interrupt button 653. The robot status label 651 displays the robot's operating status, such as robot movement or measurement. The path table 652 displays the locations to be passed through on the way to the reference point. When the interrupt button 653 is tapped, the marking robot 2 interrupts movement or measurement. Once the measurement of the reference point is complete, the screen switches to the reference measurement results screen 66 shown in Figure 25.

[0123] Figure 25 shows the reference measurement results screen 66. This reference measurement results screen 66 is displayed on the touch panel display 34 of the controller 3. On the reference measurement results screen 66, map 669 is displayed, along with the guidance: "Compare the measured value with the reference value. If you do not want to change the measured value, press "OK". If you want to change it, perform the reference height measurement and prism height measurement again."

[0124] The reference measurement results screen 66 displays the measurement results table 661, the reference height measurement button 663, the prism height measurement button 664, the confirm button 665, and the back button 662.

[0125] Measurement results table 661 displays the set value of the reference height and the measured result of the prism height. When the reference height measurement button 663 is tapped, the screen switches to the reference height measurement screen 62 shown in Figure 21, and the reference height is remeasured. When the prism height measurement button 664 is tapped, the screen switches to the prism height measurement screen 63 shown in Figure 22, and the prism height is remeasured.

[0126] When the OK button 665 is tapped, the measurement result is determined, and then the touch panel display 34 of the controller 3 switches to the floor height menu selection screen 61 shown in Figure 20. When the back button 662 is tapped, it switches back to the screen before switching to this reference measurement result screen 66.

[0127] Figure 26 shows the measurement point selection screen 67. This measurement point selection screen 67 is displayed on the touch panel display 34 of the controller 3. On the measurement point selection screen 67, map 679 is displayed, and the guidance message "Select a floor height measurement point from the list and press "Finish Selection"" is shown.

[0128] The measurement point selection screen 67 displays a clear button 671, a filter condition setting button 672, a measurement point table 673, a deselect all button 674, a back button 676, and an end selection button 675.

[0129] When the clear button 671 is tapped, the selected filter conditions are cleared. When the filter condition setting button 672 is tapped, the filter condition setting dialog is called up. This allows you to set the filter conditions for the measurement points to be displayed in the measurement point table 673 as appropriate.

[0130] Measurement point table 673 is a table that displays measurement points. When the Deselect All button 674 is tapped, the currently selected measurement points are deselected. When the Back button 676 is tapped, the touch panel display 34 of the controller 3 switches back to the screen before switching to this measurement point selection screen 67. When the End Selection button 675 is tapped, the touch panel display 34 of the controller 3 switches to the measurement point confirmation screen 68 in Figure 27, indicating that the selection of measurement points is complete.

[0131] Figure 27 shows the measurement point confirmation screen 68. This measurement point confirmation screen 68 is displayed on the touch panel display 34 of the controller 3. On the measurement point confirmation screen 68, map 689 is displayed, along with the guidance: "Confirm the point to be measured, and if there are no problems, press 'Measure'."

[0132] The measurement point confirmation screen 68 displays a left turn button 6811, a right turn button 6812, a search button 6813, a measurement point table 682, a work time prediction button 683, a route priority radio button 684, a specified order priority radio button 685, a back button 686, and a measure button 687.

[0133] When the left turn button 6811 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the left. When the right turn button 6812 is tapped, the tracking type three-dimensional measuring instrument 4 turns to the right. When the search button 6813 is tapped, the tracking type three-dimensional measuring instrument 4 searches for the prism position of the measurement target 23.

[0134] Measurement point table 682 is a table that displays measurement points. When the work time prediction button 683 is tapped, an estimated work time for measuring the floor height is calculated. The route priority radio button 684 and the specified order priority radio button 685 are used to specify the route of the marking robot 2. When the route priority radio button 684 is selected, the optimal route is calculated regardless of the specified order. When the specified order priority radio button 685 is selected, a route according to the specified order is calculated.

[0135] When the back button 686 is tapped, the touch panel display 34 of the controller 3 switches back to the screen that was displayed before switching to this measurement point confirmation screen 68. When the measurement button 687 is tapped, the touch panel display 34 of the controller 3 switches to the floor height measurement screen 69, and the floor height measurement robot system 1 starts measuring the height of the floor.

[0136] Figure 28 shows the floor height measurement screen 69. This floor height measurement screen 69 is displayed on the touch panel display 34 of the controller 3. The floor height measurement screen 69 displays map 699 and provides guidance saying, "Floor height measurement in progress. Please wait a moment," along with an estimated remaining time.

[0137] The floor height measurement screen 69 displays the robot status label 691, the measurement point table 692, and the interrupt button 693. The robot status label 691 displays the operating status of the marking robot 2, such as robot movement or measurement.

[0138] Measurement point table 692 is a table that displays the measurement results. When the interrupt button 693 is tapped, the measurement is interrupted, and the touch panel display 34 of the controller 3 switches to the floor height measurement results screen 60 shown in Figure 29. When the measurement of the specified measurement point is completed, the touch panel display 34 of the controller 3 switches to the floor height measurement results screen 60 shown in Figure 29.

[0139] Figure 29 shows the floor height measurement results screen 60. This floor height measurement results screen 60 is displayed on the touch panel display 34 of the controller 3. On the floor height measurement results screen 60, map 609 is displayed, along with the guidance: "Floor height measurement is complete. Please check the results in the list. To retrieve the measurement data, press "Display QR Code" and scan the QR code."

[0140] The floor height measurement results screen 60 displays the measurement results table 601, a two-dimensional code display button 602, and a confirmation button 603. The measurement results table 601 is a table that displays the measurement results. Measurement points whose height is outside a predetermined range may be highlighted by changing the background and / or text color of the table. When the QR code display button 602 is tapped, the touch panel display 34 of the controller 3 switches to a screen that displays a QR code encoded with the measurement result. When the confirmation button 603 is tapped, the touch panel display 34 of the controller 3 switches to the floor height menu selection screen 61 shown in Figure 20.

[0141] Figure 30 is a mode transition diagram for floor height measurement. Initially, the floor height measurement robot system 1 transitions to floor height menu selection mode M10. At this time, the controller 3 displays the floor height menu selection screen 61 shown in Figure 20. When the floor height measurement robot system 1 is in floor height menu selection mode M1, and the reference height measurement button 611 shown in Figure 20 is tapped, it transitions to reference height measurement mode M11. When the floor height measurement robot system 1 is in floor height menu selection mode M1, and the prism height measurement button 612 shown in Figure 20 is tapped, it transitions to prism height measurement mode M12.

[0142] When the "Floor Height Measurement (Measure All Points)" button 613 in Figure 20 is tapped in the floor height menu selection mode M1, the floor height measurement robot system 1 transitions to the all measurement point measurement mode M16, and then to the measurement point confirmation mode M17. When the "Floor Height Measurement (Specified Point Measurement)" button 614 in Figure 20 is tapped in the floor height menu selection mode M1, the floor height measurement robot system 1 transitions to the specified measurement point measurement mode M18, and then to the measurement point selection mode M19. When the measurement result confirmation button 615 shown in Figure 20 is tapped in the floor height menu selection mode M1, the floor height measurement robot system 1 transitions to the floor height measurement result mode M21.

[0143] The floor height measurement robot system 1 displays the reference height measurement screen 62 shown in Figure 21 on the controller 3 in reference height measurement mode M11. When the measurement confirmation button 626 shown in Figure 21 is tapped, the floor height measurement robot system 1 transitions to reference measurement result mode M15.

[0144] The floor height measurement robot system 1 displays the prism height measurement screen 63 shown in Figure 22 on the controller 3 in prism height measurement mode M12. When the robot height measurement button 636 shown in Figure 22 is tapped, the floor height measurement robot system 1 transitions to robot height measurement confirmation mode M13.

[0145] The floor height measurement robot system 1 displays the robot height measurement confirmation screen 64 shown in Figure 23 on the controller 3 in robot height measurement confirmation mode M13. When the robot travel button 644 shown in Figure 23 is tapped, the floor height measurement robot system 1 transitions to robot height measurement mode M14.

[0146] The floor height measurement robot system 1 displays the robot height measurement screen 65 shown in Figure 24 on the controller 3 in robot height measurement mode M14. When the robot height measurement is complete, the floor height measurement robot system 1 transitions to the reference measurement result mode M15.

[0147] The floor height measurement robot system 1 displays the reference measurement result screen 66 shown in Figure 25 on the controller 3 in reference measurement result mode M15. When the confirmation button 665 shown in Figure 25 is tapped, the floor height measurement robot system 1 transitions to floor height menu selection mode M10.

[0148] In measurement point selection mode M19, the floor height measurement robot system 1 displays the measurement point selection screen 67 shown in Figure 26 on the controller 3. When the selection completion button 675 shown in Figure 26 is tapped, the floor height measurement robot system 1 transitions to measurement point confirmation mode M17.

[0149] In measurement point confirmation mode M17, the floor height measurement robot system 1 displays the measurement point confirmation screen 68 shown in Figure 27 on the controller 3. When the measurement button 687 shown in Figure 27 is tapped, the floor height measurement robot system 1 transitions to floor height measurement mode M20.

[0150] In floor height measurement mode M20, the floor height measurement robot system 1 displays the floor height measurement screen 69 shown in Figure 28 on the controller 3. When the measurement is complete, the floor height measurement robot system 1 transitions to floor height measurement result mode M21.

[0151] In floor height measurement robot system 1, in floor height measurement result mode M21, the floor height measurement result screen 60 shown in Figure 29 is displayed on the controller 3. When the confirmation button 603 shown in Figure 29 is tapped, the floor height measurement robot system 1 transitions to floor height menu selection mode M10.

[0152] (modified version) The present invention is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above are described in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described. 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. Furthermore, it is possible to add, delete, or replace parts of the configuration of each embodiment with other configurations.

[0153] Each of the above configurations, functions, processing units, and processing means may be implemented in part or in whole by hardware, such as an integrated circuit. Each of the above configurations and functions may also be implemented in software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function can be stored in a recording device such as memory, a hard disk, or an SSD (Solid State Drive), or on a recording medium such as a flash memory card or a DVD (Digital Versatile Disk).

[0154] In each embodiment, the control lines and information lines shown are those deemed necessary for explanation and do not necessarily represent all control lines and information lines in the actual product. In practice, it can be assumed that almost all components are interconnected. [Explanation of Symbols]

[0155] 1. Floor height measurement robot system 2. Marking robot (robot) 20 frames 201 Bumper 210 Marking robot control unit (robot control means) 211 Drive unit 212 Printer movement unit 213 Measurement target drive unit 214 Height calculation unit (height calculation means) 215 Height determination unit (height determination means) 21F Wheels 21R wheels 22 Printers 23 Measurement Targets 24 Communications Department 25 Operation buttons 26. Front sensor 27F Bumper Sensor 27R Bumper Sensor 28 Downward sensor 3 Controllers 31 processors 32 RAM 33 Mass storage 34 Touch panel display 35 Communications Department 31a Operation reception section 31b Reading section 31c Instrument station setting section 31d Measurement point setting unit 31e Survey instrument operation section 31f Robot operation unit (robot operation means) 31g Driving range setting unit 31h Route setting part 31i Communication Control Unit 31j Screen Control Unit 331 Robot control program 332 measurement point data 333 Driving route data 4. Tracking-type three-dimensional measuring instrument (three-dimensional measuring means: surveying instrument) 51 CAD data storage unit 52 Measurement Point Information Creation Department 53. Field Management Server 70 Concrete surface 71 pillars 72 Reference point

Claims

1. A means of transport that travels on the floor surface, A robot control means that controls the robot to move to a predetermined position on the floor surface using the aforementioned travel means, A three-dimensional measuring means for measuring the position and height of the robot's measurement target, A robot operating means that instructs the robot to move to the coordinates of the measurement point information using the traveling means, based on the measurement point information in the coordinates of the floor plan, A height calculation means that calculates the height of the floor surface at the location of the measurement point information based on the height of the measurement target measured by the three-dimensional measurement means, The robot is provided with printing means for printing on the floor surface, The system includes a height determination means for determining whether the height of the floor surface calculated by the height calculation means is within a predetermined range, The robot control means, at each position of the measurement point information, when the three-dimensional measurement means measures the measurement target and the height calculation means calculates the height of the floor surface, if the height determination means determines that the height of the floor surface deviates from the predetermined range, the printing means prints that fact on the floor surface, and if it determines that the height of the floor surface is within the predetermined range, the printing means does not print the information of the floor surface height on the floor surface. A robotic system for measuring floor surface height, characterized by the following features.

2. The height calculation means calculates the height of the floor surface at the position of the measurement point information based on the reference height information obtained by measuring a reference height and the height of the measurement target. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

3. If the robot control means determines, based on the height determination means, that the height of the floor surface has deviated from the predetermined range, it further prints information of the height of the floor surface on the floor surface. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

4. The robot control means prints marking information corresponding to the position of each of the measurement point information onto the floor surface. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

5. The height calculation means calculates the inclination information of the floor surface at the location of the measurement point information based on the heights of the floor surface at multiple points around the location of the measurement point information. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

6. The robot control means causes the tilt information to be printed on the floor surface. The floor height measurement robot system according to claim 5, characterized in that it is the same as described in claim 5.

7. A screen control unit that displays the calculated result of the floor height on the screen. The floor height measuring robot system according to claim 1, further comprising the following:

8. The screen control unit displays the measurement data, including the calculated height of the floor surface, as a two-dimensional code on the screen. The floor height measurement robot system according to claim 7.

9. The measurement point information in the coordinates of the aforementioned floor plan is predetermined. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

10. The measurement point information in the coordinates of the aforementioned floor drawing is specified by user operation. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

11. The robot operating means sets the robot's travel range and travel route based on the measurement point information. The floor height measurement robot system according to claim 1, characterized in that it is a robot system.

12. A step of moving a robot to a measurement point on the floor surface based on measurement point information in the coordinates of a floor plan, The steps include: measuring the height of the robot's measurement target using a three-dimensional measuring means when the robot is positioned at the measurement point; A step of calculating the height of the floor surface at the measurement point based on the height of the measurement target, A step of determining whether the height of the floor surface is within a predetermined range, If it is determined that the height of the floor surface deviates from the predetermined range, the fact to that effect is printed on the floor surface; if it is determined that the height of the floor surface is within the predetermined range, the information regarding the height of the floor surface is not printed on the floor surface. A method for measuring floor height, characterized by comprising the following features.

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