Ai robot system for providing maintenance function for structure to be repaired by using large-area grinding module

Abstract

An AI robot system, according to an embodiment of the present invention, comprises: a cart or an automated guided vehicle (AGV); a scanner device mounted on the cart or the automated guided vehicle so as to collect scan data; a processor determining a condition of a work section on the basis of the collected scan data and selecting a work process to be performed on the basis of a result of the condition determination: a grinding module having a plurality of grinders and configured to be mountable on the cart or the automated guided vehicle so as to remove rust, pre-applied paint, or foreign substances from a wall surface of a structure to be repaired; and a painting device configured to be mountable on the cart or the automated guided vehicle so as to perform a painting operation.

Description

An AI robot system that provides maintenance functions for structures to be repaired using a large-area grinding module.

[0001] The present invention relates to an AI robot system that provides a maintenance function for a structure to be repaired, and more specifically, to an AI robot system that can perform a rust removal process, a paint and foreign matter removal process, a road line removal process, a panic runway skid mark removal process, a shellfish removal process from the outside (underside) of a ship, a sewer box foreign matter removal process, a painting (including waterproofing) process, and an inspection process for each work process, etc. required for the structure.

[0002] A water tank (hereinafter referred to as a "water tank", such as a water tank or sewer tank, etc.) is a storage facility that stores a large amount of water. In order to prevent the contamination of the stored water from deteriorating to a level that makes it unsuitable for its intended use (e.g., agricultural, industrial, domestic, drinking, etc.), various maintenance tasks such as rust removal, painting after removing existing paint and foreign substances must be continuously performed.

[0003] Previously, maintenance work on these structures involved workers entering the interior of the structure and using high-pressure water sprayers or grinding machines to remove rust, paint, or foreign substances, and using scaffolding to perform painting work, which was manpower-centric.

[0004] However, workers are exposed to noise, flying dust, and foul odors generated during the process of removing rust, paint, or foreign substances, which can worsen their health and lead to problems such as suffocation and fire prevention in confined spaces. In addition, because workers perform the work manually, the quality may vary depending on the ability of each worker, or even when the same worker performs the work, making it difficult to achieve consistent quality work across the entire work area.

[0005] Meanwhile, the scope of use of single-joint automated robots (hereinafter, single-joint robots) that automatically perform work movements, or multi-joint robots that perform three or more types of work movements and are manufactured by combining three or more rotary motion devices, is gradually increasing.

[0006] These single-joint robots or multi-joint robots are implemented as collaborative robots that can physically interact with people while performing tasks in the same space as people, and can efficiently perform work with consistent quality across the entire work area.

[0007] The present invention has been devised to solve the above problems, and the purpose of the present invention is to provide an AI robot system that can scan a structure, determine necessary processing operations based on the scan results, and automatically perform rust removal, paint and foreign matter removal, and painting operations necessary for the structure using a large-area grinding module.

[0008] According to one embodiment of the present invention for achieving the above object, the AI ​​robot system includes: a cart or an automated guided vehicle (AGV); a scanner device mounted on the cart or the automated guided vehicle to scan a preset work section within a structure to be repaired and collect scan data; a processor for determining the state of the work section based on the collected scan data and selecting one of a rust removal work process, a paint and foreign matter removal work process, and a painting work process to be performed based on the result of the state determination; a grinding module provided with a plurality of grinders, implemented so as to be mounted on the cart or the automated guided vehicle, such that when mounted on the cart or the automated guided vehicle, the grinder uses the plurality of grinders to remove rust, previously applied paint, or foreign matters within a wall surface of the structure to be repaired; and a painting device mounted on the cart or the automated guided vehicle, such that when mounted on the cart or the automated guided vehicle, the painting device sprays paint on an area designated by the processor to perform a painting work.

[0009] And the grinding module may include a housing having an opening formed on the front surface; a plurality of first grinders arranged on the upper front surface of the housing having the opening formed and arranged horizontally to primarily remove rust, paint or foreign substances at a point of contact; a plurality of second grinders arranged on the front surface of the housing having the opening formed and arranged below the first grinders, arranged horizontally so that the arrangement intersects the arrangement of the plurality of first grinders, and secondary remove rust, paint or foreign substances at a point of contact; a first brush arranged on the front surface of the housing having the opening formed and arranged below the plurality of second grinders, and performing a function of primarily removing and wiping off rust, paint or foreign substances separated from a wall surface of a structure to be repaired by the plurality of first grinders and the second grinders; and a second brush arranged on the front surface of the housing having the opening formed and arranged below the first brush, and performing a function of grinding and wiping off a surface of a wall surface of the structure to be repaired.

[0010] In addition, the grinding module may further include a plurality of rollers arranged on the front of the housing having an opening formed therein to assist in moving up and down or left and right while the front of the housing is in contact with a target point at which a work process is to be performed; and a support member coupled to the rear end of the housing.

[0011] And the housing includes a housing body having an opening formed in the front; a plurality of connecting members accommodated inside the housing body, one side of which is individually connected to the rear end of each of the first grinders or each of the second grinders, and the other side of which is connected to the support body; and a first spring that is connected to each of the connecting members and absorbs a repulsive force generated when each of the grinders is driven; and the support may include a support body that is connected to the rear end of the housing; and a second spring that is connected to the support body and provides an elastic force so that the plurality of first grinders and the second grinders are stably in close contact with each other on the contact surfaces.

[0012] Additionally, the grinding module may further include an air suction line provided at the bottom of the housing for sucking up odors and foreign substances contained in the air generated during the removal of rust, paint or foreign substances.

[0013] And, according to one embodiment of the present invention, the AI ​​robot system may further include a dust collection device connected to the air suction line and processing foreign substances sucked through the air suction line.

[0014] In addition, according to one embodiment of the present invention, the AI ​​robot system may further include a multi-joint robot device that is connected to a grinding module or a painting device to adjust the X-axis, Y-axis, and Z-axis positions and Yaw values, Roll values, and Pitch values ​​of the connected grinding module or painting device; a lidar sensor that is mounted on a cart or an unmanned transport vehicle to recognize the position of the cart or unmanned transport vehicle and detect objects and terrain features around the cart or unmanned transport vehicle to measure a first distance from the cart or unmanned transport vehicle to a target point where work is to be performed; and a laser tracker that is mounted on the grinding module to measure a second distance from the grinding module to a target point where work is to be performed.

[0015] And, when performing work using the grinding module, the processor recognizes the entire shape of a preset work section based on scan data, sets the location of an entrance, a specific pillar, or a specific corner as a reference coordinate for starting work, and generates a work path of the grinding module using the set reference coordinate as a starting point, and when the work path is generated, the grinding module can perform rust removal work or paint and foreign matter removal work while moving along the generated work path using the measurement result of the first distance and the measurement result of the second distance.

[0016] In addition, the processor, when one of the work processes is selected based on the result of the judgment of the state of the work section, determines the position of a cart or an unmanned transport vehicle for performing the selected work process, controls the cart or the unmanned transport vehicle based on the scan data to move to the determined position, and when the movement of the cart or the unmanned transport vehicle is completed, corrects the position of the cart or the unmanned transport vehicle based on the measurement result of the first distance measured by the lidar sensor, and when the position of the cart or the unmanned transport vehicle is corrected, controls the multi-joint robot device to move the grinding module connected to the multi-joint robot device along the generated work path.

[0017] And the processor analyzes the scan data to divide the entire work section into multiple areas by considering the location, size (area), shape, and material, and sequentially determines the status of each area from the area corresponding to the starting point of the work path or the area closest to the starting point among the multiple divided areas, and selects a work process for each area, and determines which device is currently connected to the multi-joint robot device among the grinding module and the painting device, and determines the currently appropriate work process based on the judgment result of the connected device, and performs the work process for the areas selected as the work process that should be performed for the connected device.

[0018] In addition, when a suitable work process is completed for all selected areas, the processor uses scan data to perform an inspection on each area where the work process is completed to detect areas requiring additional work, and when areas requiring additional work are detected, only the areas requiring additional work are selected and designated as additional areas, and the work process can be performed again for the designated additional areas.

[0019] As described above, according to embodiments of the present invention, by automatically performing rust removal work processes, paint and foreign matter removal work processes, painting work processes, and inspection processes for each work process required for a structure using a large-area grinding module, uniform quality can be secured for the entire work section.

[0020] In addition, it can protect workers from noise, dust, and odors generated during the process of removing rust, paint, or foreign substances, and can prevent falls that frequently occur at high-altitude work sites. By prioritizing worker safety in accordance with the enforcement of the Serious Accident Punishment Act, it can greatly contribute to the advancement of a safe construction culture.

[0021] Figure 1 is a drawing provided for the description of an AI robot system according to one embodiment of the present invention;

[0022] FIG. 2 is a drawing provided for the description of the process of performing a work process when a grinding module is connected to the multi-joint robot device illustrated in FIG. 1.

[0023] Figure 3 is a drawing illustrating a front view of the grinding module illustrated in Figure 2.

[0024] Figure 4 is a drawing illustrating a side view of the grinding module illustrated in Figure 2.

[0025] FIG. 5 is a drawing provided for the description of the process of performing a work process when a painting device is connected to the multi-joint robot device illustrated in FIG. 1.

[0026] FIG. 6 is a flowchart illustrating a process of performing a work process using an AI robot system according to one embodiment of the present invention.

[0027] FIG. 7 is a flowchart illustrating a process of controlling a device connected to a multi-joint robot device during the process of performing the work process illustrated in FIG. 6.

[0028] FIG. 8 is a flowchart illustrating a process of performing a work process by dividing the work process into multiple areas using an AI robot system according to one embodiment of the present invention.

[0029] Hereinafter, the present invention will be described in more detail with reference to the drawings.

[0030] FIG. 1 is a drawing provided for the description of an AI robot system according to one embodiment of the present invention.

[0031] The AI ​​robot system according to this embodiment is provided to scan a structure, determine necessary processing operations based on the scan results, and automatically perform rust removal, paint and foreign matter removal, and painting operations required for the structure using a large-area grinding module.

[0032] To this end, the present AI robot system may include a cart or unmanned transport vehicle (100), a scanner device (200), a lidar sensor (300), a laser tracker (400), a processor (500), a grinding module (600), a painting device (700), a multi-joint robot device (800), a dust collector (900), a battery device (1000), and a disaster prevention device (1100).

[0033] The unmanned transport vehicle (100) is equipped with components of an AI robot system on top and can perform dynamic driving along a preset path.

[0034] A vehicle (not shown) can be applied as a replacement for an unmanned transport vehicle.

[0035] For example, a vehicle (not shown) can move according to the operator's operation while having components of an AI robot system mounted on top.

[0036] Additionally, the upper surface of the bogie or unmanned transport vehicle (100) can be detached to accommodate components. At this time, the upper surface of the bogie or unmanned transport vehicle (100) can be detached by being fixed or unfixed at four corner points along the rim.

[0037] The scanner device (200) can be mounted on a cart or an unmanned transport vehicle (100) and scan a preset work area within a structure to be repaired to collect scan data. Specifically, the scanner device (200) can collect scan data by irradiating light onto a subject within a work site and receiving light reflected from the subject.

[0038] A lidar sensor (300) is mounted on a cart or an unmanned transport vehicle (100), recognizes the location of the cart or unmanned transport vehicle (100), detects objects and terrain features around the cart or unmanned transport vehicle, and can measure a first distance, which is the distance between the cart or unmanned transport vehicle (100) and a target point where work is to be performed.

[0039] The laser tracker (400) is mounted on the grinding module (600) and can measure a second distance, which is the distance from the grinding module (600) to the target point where work is to be performed.

[0040] The processor (500) can determine the status of the work section based on the collected scan data, and select one of the rust removal work process, the paint and foreign matter removal work process, and the painting work process to be performed based on the result of the status determination, and cause the selected work process to be performed.

[0041] For example, when performing work using the grinding module (600), the processor (500) can recognize the entire shape of a preset work section based on scan data, set the driving path of a cart or unmanned transport vehicle (100) and the location of an entrance, a specific pillar, or a specific corner as reference coordinates for the start of work, and generate a work path of the grinding module (600) using the set reference coordinates as a starting point.

[0042] In addition, the processor (500) can use the measurement results of the first distance and the measurement results of the second distance to cause the grinding module (600) to perform a rust removal operation or a paint and foreign matter removal operation while moving along the generated work path.

[0043] At this time, the processor (500) can control the multi-joint robot device (800) to allow the grinding module (600) connected to the multi-joint robot device (800) to reach the target point, and can perform a rust removal operation or a paint and foreign substance removal operation while moving the multi-joint robot device (800) and the cart or unmanned transport vehicle (100) according to the processing speed of a plurality of grinders and brushes.

[0044] That is, when one work process is selected based on the result of the state judgment of the work section, the processor (500) determines the position of the cart or unmanned transport vehicle (100) for performing the selected work process, controls the cart or unmanned transport vehicle (100) based on scan data to move to the determined position, and when the movement of the cart or unmanned transport vehicle (100) is completed, the position of the cart or unmanned transport vehicle (100) can be corrected based on the measurement result of the first distance measured through the lidar sensor (300).

[0045] Thereafter, when the position of the cart or unmanned transport vehicle (100) is corrected, the processor (500) controls the multi-joint robot device (800) to move the grinding module (600) connected to the multi-joint robot device (800) along the generated work path, and can adjust the grinding module (600) to remain in close contact with the target point based on the measurement result of the second distance measured through the laser tracker (400) during the process of moving along the work path.

[0046] In addition, the processor (500) analyzes the scan data to divide the entire work section into a plurality of areas by considering the location, size (area), shape, and material, and sequentially determines the status of each area from the area corresponding to the starting point of the work path or the area closest to the starting point among the divided areas, and selects a work process for each area, and determines which device is currently connected to the multi-joint robot device (800) among the grinding module (600) and the painting device (700), and determines the currently appropriate work process based on the judgment result of the connected device (600 or 700), and performs the work process on the areas selected as having to perform the work process appropriate to the connected device (600 or 700).

[0047] At this time, when a suitable work process is completed for all selected areas, the processor (500) uses scan data to perform an inspection on each area where the work process is completed, detects areas requiring additional work, and when areas requiring additional work are detected, selects only the areas requiring additional work and designates them as additional areas, and performs the work process again for the designated additional areas.

[0048] Meanwhile, the processor (500) can also control the working speed of multiple grinders and brushes depending on the material of the working surface.

[0049] In addition, the processor (500) can be linked with a separately provided mobile device (not shown) so that all tasks performed by the processor (500) can be performed remotely through the mobile device.

[0050] The grinding module (600) is implemented so that it can be mounted on a cart or an unmanned transport vehicle (100), and when mounted on a cart or an unmanned transport vehicle, rust, existing paint, or foreign substances on the wall surface of a structure to be repaired can be removed using multiple grinders.

[0051] To this end, the grinding module (600) is connected to a multi-joint robot device (800), and the X-axis, Y-axis, and Z-axis positions and Yaw values, Roll values, and Pitch values ​​can be adjusted according to the control signal of the processor (500). A more detailed description in this regard will be described later with reference to FIGS. 2 and 3.

[0052] The painting device (700) is implemented so that it can be mounted on a cart or an unmanned transport vehicle (100), and when mounted on a cart or an unmanned transport vehicle (100), it can perform painting work by spraying paint on an area designated by the processor (500).

[0053] The multi-joint robot device (800) is implemented as a three-axis or six-axis multi-joint robot device, and a grinding module (600) or a painting device (700) is connected to it, and the position, direction, etc. of the connected grinding module (600) or painting device (700) can be adjusted according to a control signal transmitted from a processor (500).

[0054] And the multi-joint robot device (800) can be replaced with a single-joint robot device.

[0055] Specifically, the single-joint robot device is a one-axis (e.g., left-right or up-down) robot device, to which a grinding module (600) or a painting device (700) is connected, and the grinding module (600) or the painting device (700) can be driven to move left-right or up-down according to a control signal transmitted from the processor (500).

[0056] The dust collector (900) can suck up and process foreign substances generated during work.

[0057] Specifically, the dust collection device (900) can suck up and process foreign substances generated when a grinding module (600) is connected to a multi-joint robot device (800) and a work process of removing rust, paint, or foreign substances is performed.

[0058] In addition, the dust collector (900) can suck in air to remove odors caused by paint, etc., even when the painting device (700) is connected to the multi-joint robot device (800) and painting work is performed.

[0059] The battery device (1000) is provided in a portable form and can supply power to components while mounted on a cart or an unmanned transport vehicle (100), and the fire prevention device (1100) is provided to respond to fire in the event of a fire occurring within the work area based on collected scan data.

[0060] For example, if the fire prevention device (1100) determines that a fire has occurred within the work area based on the collected scan data, it can output a voice alarm to notify workers of the fire and spray fire extinguishing powder at the fire site.

[0061] FIG. 2 is a drawing provided for explaining a process of performing a work process when a grinding module (600) is connected to the multi-joint robot device illustrated in FIG. 1, FIG. 3 is a drawing illustrating a front view of the grinding module (600) illustrated in FIG. 2, and FIG. 4 is a drawing illustrating a side view of the grinding module (600) illustrated in FIG. 2.

[0062] Referring to FIGS. 2 to 4, the grinding module (600) may include a housing (610), a first grinder (620), a second grinder (630), a first brush (640), a second brush (650), a roller (660), a support (670), and an air suction line (not shown).

[0063] The housing (610) may have an opening formed on the front surface.

[0064] Specifically, the housing (610) may include a housing body (611) having an opening formed in the front, a plurality of connecting members (612) accommodated inside the housing body (611), one side of which is individually coupled to the rear end of each first grinder or each second grinder and the other side of which is connected to the support body, and a first spring (613) fastened to each connecting member (612) to absorb a repulsive force generated when each grinder is driven.

[0065] Additionally, the housing (610) may be provided with a housing edge brush (611a) on the edge portion of the front (opening).

[0066] The housing edge brush (611a) is formed along the front edge of the housing body (611), and a brush bristles capable of performing the function of brushing and wiping the contact surface on the inside (or outside) of the edge may be provided, and when the front part of the grinding module (600) comes into contact with a preset work section in the structure to be repaired, a shock absorbing material such as urethane capable of absorbing the shock of the front part of the grinding module (600) may be provided on the outside (or inside) of the edge.

[0067] And, when the housing edge brush (611a) comes into contact with the work section, the brush bristles and shock absorbing member formed along the front edge portion of the housing body (611) are in close contact with the contact surface, thereby preventing foreign substances (e.g., dust, etc.) generated by the work of the first grinder (620), the second grinder (630), the first brush (640), the second brush (650), etc. from leaking out of the front portion of the grinding module (600), and also reducing noise generated by the work.

[0068] In addition, the housing (610) may be provided with a housing exhaust port for air circulation on one side of the rear of the housing body (611). That is, the housing (610) allows the internal air of the housing body (611) to circulate with the external air through the housing exhaust port, thereby preventing cooling of the heat generated by the first grinder (620), the second grinder (630), the first brush (640), the second brush (650), etc., and preventing an internal vacuum state of the housing body (611).

[0069] The housing (610) may include a housing body (611) having an opening formed in the front, a plurality of connecting members (612) accommodated inside the housing body (611), one side of which is individually connected to the rear end of each first grinder or each second grinder and the other side of which is connected to the support body, and a first spring (613) fastened to each connecting member (612) to absorb a repulsive force generated when each grinder is driven.

[0070] The first grinder (620) is provided in multiples and is placed on the upper front side of the housing (610) having an opening formed therein, and is arranged in a horizontal direction so as to primarily remove rust, paint or foreign substances at the point of contact.

[0071] The second grinder (630) is provided in multiples and is arranged on the front side of the housing (610) in which the opening is formed, and is arranged below the first grinder (620), and is arranged in a horizontal direction, and is arranged so that the arrangement intersects the arrangement of the plurality of first grinders, so that rust, paint or foreign substances can be removed at the point of contact.

[0072] That is, each of the second grinders (630) may be arranged crosswise along a horizontal row placed below the row in which the first grinders (620) are arranged when a plurality of first grinders (620) are arranged along a horizontal direction.

[0073] And each of the first grinder (620) and the second grinder (630) may be provided with a motor (not shown) that generates driving force at the rear portion and a housing (not shown) of the motor.

[0074] At this time, the housing of the motor may be provided with an air exhaust port (not shown) for intake and exhaust, and a rear filter (not shown) installed in the air exhaust port to block the inflow of foreign substances (e.g., dust) contained in the intake (air brought in from the outside) in order to provide an air-cooling function to the motor.

[0075] In addition, each of the first grinder (620) and the second grinder (630) is installed in a detachable modular manner on the front of the housing (610), and when installed, the grinder handle portion is fixed to prevent play.

[0076] The first brush (640) is arranged on the front side of the housing (610) having an opening formed therein, and is arranged below the plurality of second grinders, so as to perform the function of primarily removing and wiping away rust, paint, or foreign substances separated from the wall surface of the structure to be repaired by the plurality of first grinders and second grinders. Here, the bristles of the first brush (640) may be made of various animal hairs (natural hair), nylon, or the like, so as to perform the removing and wiping function.

[0077] The second brush (650) is positioned on the front side of the housing (610) where the opening is formed, and is positioned below the first brush (640) to perform a function of grinding and polishing the surface of the wall surface of the structure to be repaired (polishing function). Here, the second brush (650) may have a bristled portion made of wire or the like to perform the polishing function.

[0078] The roller (660) is provided in multiples and is arranged on the front of the housing (610) having an opening formed therein, so that when the front of the housing is moved up and down or left and right while in contact with a target point where a work process is to be performed by a multi-joint robot device (800), the roller can assist the movement of the front of the housing (610).

[0079] Here, a spring (661) for the roller that provides elasticity to keep the roller (660) in contact with the target point can be fastened to the rear end of the roller (660).

[0080] The support (670) can be coupled to the rear end of the housing (610) to keep the plurality of first grinders and second grinders in stable contact with the contact surface.

[0081] Specifically, the support (670) may include a support body coupled to the rear end of the housing (610) and a second spring (672) that is fastened to the support body (671) and provides elasticity to maintain a plurality of first grinders and second grinders in stable contact with the contact surface.

[0082] That is, the support (670) can transmit the same pressure to the working surface through the second spring (672), even if there is a difference in the flatness of the horizontal surface of the working surface of the target point, the curved surface, and the damaged area surface, etc.

[0083] An air suction line (not shown) is provided at the bottom of the housing (610) and can suck up odors and foreign substances contained in the air generated during the removal of rust, paint, or foreign substances.

[0084] FIG. 5 is a drawing provided for explaining a process of performing a work process when a painting device is connected to the multi-joint robot device illustrated in FIG. 1.

[0085] Referring to FIG. 5, the painting device (700) is connected to a multi-joint robot device (800) and, when mounted on a cart or an unmanned transport vehicle (100), can perform painting work by spraying paint on an area designated by the processor (500).

[0086] At this time, the painting device (700) is equipped with a spray gun (not shown) capable of spraying a fusion paint and a roller (not shown) that presses and spreads the sprayed fusion paint evenly, so as to spray the paint in an area designated by the processor (500) and to spread the sprayed fusion paint evenly.

[0087] And, a multi-joint robot device (800) implemented as a single-joint robot device or a three-axis or six-axis multi-joint robot device can spray a fusion paint to a target location by adjusting the X-axis, Y-axis, and Z-axis positions and Yaw values, Roll values, and Pitch values ​​of the connected painting device (700) when the robot arm part capable of performing the task is connected to the painting device (700).

[0088] FIG. 6 is a flowchart illustrating a process of performing a work process using an AI robot system according to one embodiment of the present invention.

[0089] Referring to FIG. 6, the AI ​​robot system according to the present embodiment can scan a preset work section within a structure to be maintained to collect scan data, determine a necessary process operation based on the collected scan data, and automatically perform the selected process operation based on the determination result.

[0090] Specifically, when scan data is collected (S610), the AI ​​robot system can determine the status of the work section based on the collected scan data (S620), and select one of the rust removal work process, paint and foreign matter removal work process, and painting work process to be performed based on the result of the status determination (S630).

[0091] And when a work process is selected, the AI ​​robot system can generate a work path of a grinding module (600) or a painting device (700) connected to a multi-joint robot device (800) based on scan data (S640), and perform the work process along the generated work path (S650).

[0092] Once the work process is completed, the AI ​​robot system can collect scan data again, analyze the work process results based on the collected latest scan data, and perform quality inspection (S660).

[0093] At this time, the AI ​​robot system can detect an area that has failed the quality inspection (S660-N) and perform additional work on the area that has failed the quality inspection (S670).

[0094] FIG. 7 is a flowchart illustrating a process of controlling a device connected to a multi-joint robot device during the process of performing the work process illustrated in FIG. 6.

[0095] Referring to FIG. 7, the AI ​​robot system can set the location of an entrance, a specific pillar, or a specific corner as a reference coordinate for the start of work based on scan data to adjust the location of a device connected to a multi-joint robot device (800) (S710), and generate a work path of the grinding module (600) using the set reference coordinate as a starting point (S720).

[0096] And, when the position of the cart or unmanned transport vehicle (100) is determined along the generated work path, the AI ​​robot system can generate a driving path for the cart or unmanned transport vehicle (100) to move from the current position to the determined position, and cause the cart or unmanned transport vehicle (100) to drive along the driving path.

[0097] That is, when one work process is selected based on the result of the judgment of the status of the work section, the AI ​​robot system can determine the location of a cart or unmanned transport vehicle (100) for performing the selected work process (S730), and control the cart or unmanned transport vehicle (100) based on scan data to move to the determined location (S740).

[0098] And when the movement of the cart or unmanned transport vehicle (100) is completed, the AI ​​robot system corrects the position of the cart or unmanned transport vehicle (100) based on the measurement result of the first distance measured through the lidar sensor (300) (S750), and when the position of the cart or unmanned transport vehicle (100) is corrected, the AI ​​robot system controls the multi-joint robot device (800) to move the grinding module (600) connected to the multi-joint robot device (800) along the generated work path (S760), so that the grinding module (600) can perform the work while being in close contact with the target point (S770).

[0099] FIG. 8 is a flowchart illustrating a process of performing a work process by dividing the work process into multiple areas using an AI robot system according to one embodiment of the present invention.

[0100] Referring to FIG. 8, the AI ​​robot system analyzes scan data to divide the entire work section into multiple areas by considering location, size (area), shape, and material (S810), and sequentially determines the status of each area from among the multiple areas divided, starting from the area corresponding to the starting point of the work path or the area closest to the starting point, and selects a work process for each area (S820).

[0101] At this time, the AI ​​robot system determines which device is currently connected to the multi-joint robot device (800) among the grinding module (600) and the painting device (700) (S830), determines a currently suitable work process based on the determination result of the connected device (S840), generates a work path targeting areas selected to perform a work process suitable for the connected device (S850), and performs the work process targeting the selected areas according to the generated work path (S860).

[0102] For example, if the device currently connected to the multi-joint robot device (800) is a grinding module (600), the AI ​​robot system can determine a work process for removing rust, paint, or foreign substances as the currently suitable work process, and if the device currently connected to the multi-joint robot device (800) is a painting device (700), the AI ​​robot system can determine a painting work process as the currently suitable work process.

[0103] And, when the AI ​​robot system completes the appropriate work process for the entire selected area, it uses the scan data to perform an inspection on each area where the work process has been completed to detect areas that require additional work, and when areas requiring additional work are detected, it selects only the areas requiring additional work and designates them as additional areas, and can perform the work process again for the designated additional areas.

[0104] Through this, uniform quality can be secured for the entire work section, and workers can protect their health from noise, flying dust, and foul odors generated during the process of removing rust, paint, or foreign substances, and fall accidents that frequently occur at high-altitude work sites can be prevented in advance. By prioritizing worker safety in accordance with the enforcement of the Serious Disasters Act, it can greatly contribute to the advancement of a safe construction culture.

[0105] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. Vehicle or automated guided vehicle (AGV); A scanner device mounted on a cart or an unmanned transport vehicle that scans a preset work area within a structure to be repaired and collects scan data; A processor that determines the condition of a work section based on collected scan data and selects one of the rust removal, paint and foreign matter removal, and painting processes to be performed based on the result of the condition determination; A grinding module that is provided with multiple grinders and is implemented so that it can be mounted on a cart or an unmanned transport vehicle, and when mounted on a cart or an unmanned transport vehicle, uses multiple grinders to remove rust, existing paint, or foreign substances from the wall surface of the structure to be repaired; and An AI robot system including a painting device that is implemented to be mounted on a cart or an unmanned transport vehicle, and performs painting work by spraying paint on an area designated by a processor when mounted on a cart or an unmanned transport vehicle.

2. In claim 1, The grinding module is A housing having an opening formed on the front; A plurality of first grinders arranged in the upper front part of the housing where the opening is formed and arranged in a horizontal direction to primarily remove rust, paint or foreign substances at the point of contact; A plurality of second grinders arranged on the front side of the housing having an opening formed therein, arranged below the first grinder, arranged in a horizontal direction, and arranged so that the arrangement intersects the arrangement of the plurality of first grinders, for secondary removal of rust, paint or foreign substances at the point of contact; A first brush is arranged on the front of the housing in which the opening is formed, and is arranged on the lower side of a plurality of second grinders, and performs the function of primarily removing and wiping away rust, paint, or foreign substances separated from the wall surface of the structure to be repaired by the plurality of first grinders and second grinders; and An AI robot system characterized by comprising a second brush, which is positioned on the front side of a housing in which an opening is formed and is positioned below the first brush, and performs the function of grinding and cleaning the surface of the wall surface of the structure to be repaired.

3. In claim 2, The grinding module is A plurality of rollers arranged on the front of the housing having an opening formed therein to assist in moving up and down or left and right while the front of the housing is in contact with the target point where the work process is to be performed; and An AI robot system further characterized by including a support member coupled to the rear end of the housing.

4. In claim 2, Housing is, A housing body having an opening formed on the front; A plurality of connecting members accommodated inside the housing body, one side of which is individually connected to the rear end of each first grinder or each second grinder, and the other side of which is connected to the support body; and A first spring is connected to each connecting member and absorbs the repulsive force generated when each grinder is driven; The support is, A support body coupled to the rear end of the housing; and An AI robot system characterized in that it includes a second spring that is connected to the support body and provides elasticity to maintain a plurality of first grinders and second grinders in a stable state of contact with the contact surface.

5. In claim 2, The grinding module is It further includes an air suction line provided at the bottom of the housing to suck up odors and foreign substances contained in the air generated during the removal of rust, paint or foreign substances; AI robot system, An AI robot system further comprising a dust collection device connected to an air suction line and processing foreign substances sucked through the air suction line.

6. In claim 5, A multi-joint robot device connected to a grinding module or a painting device, which allows the X-axis, Y-axis, and Z-axis positions and Yaw values, Roll values, and Pitch values ​​of the connected grinding module or painting device to be adjusted; A lidar sensor mounted on a cart or an unmanned transport vehicle, which recognizes the location of the cart or unmanned transport vehicle, detects objects and terrain features around the cart or unmanned transport vehicle, and measures the first distance, which is the distance from the cart or unmanned transport vehicle to the target point where work is to be performed; and An AI robot system further comprising a laser tracker mounted on the grinding module for measuring a second distance from the grinding module to a target point at which work is to be performed.

7. In claim 6, The processor is, When performing work using the grinding module, the entire shape of the preset work section is recognized based on scan data, the location of an entrance, a specific pillar, or a specific corner is set as the reference coordinate for the start of the work, and the work path of the grinding module is created with the set reference coordinate as the starting point. An AI robot system characterized in that, when a work path is generated, the grinding module moves along the generated work path using the measurement results of the first distance and the measurement results of the second distance to perform rust removal work or paint and foreign matter removal work.

8. In claim 7, The processor is, When one work process is selected based on the result of the status judgment of the work section, the location of the cart or unmanned transport vehicle to perform the selected work process is determined, Controlling a cart or an unmanned transport vehicle based on scan data to move to a determined location, and when the cart or unmanned transport vehicle movement is completed, correcting the location of the cart or unmanned transport vehicle based on the measurement result of the first distance measured by the lidar sensor. An AI robot system characterized in that when the position of a cart or an unmanned transport vehicle is corrected, the multi-joint robot device is controlled so that a grinding module connected to the multi-joint robot device moves along the generated work path.

9. In claim 7, The processor is, By analyzing the scan data, the entire work section is divided into multiple areas considering the location, size (area), shape, and material, and among the multiple divided areas, the status of each area is sequentially judged starting from the area corresponding to the starting point of the work path or the area closest to the starting point, and the work process is selected for each area. An AI robot system characterized in that it determines whether a device currently connected to a multi-joint robot device is a grinding module or a painting device, determines a currently appropriate work process based on the judgment result of the connected device, and performs a work process targeting selected areas where a work process appropriate for the connected device should be performed.

10. In claim 9, The processor is, Once the appropriate work process is completed for all selected areas, the scan data is used to perform an inspection on each area where the work process has been completed to detect areas that require additional work. An AI robot system characterized in that, when an area requiring additional work is detected, only the area requiring additional work is selected, designated as an additional area, and the work process is performed again targeting the designated additional area.

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