A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
MARKING ROBOT, MARKING ROBOT SYSTEM, AND MEASURING ROBOT
To automate a measurement work of an uneven level of a floor surface at a marking position.SOLUTION: A marking robot 10 includes: travel means (travel actuator 17ac); printing means (printer 16) having a printing head; a detection sensor SN2 for detecting a floor surface; a measuring target (directive prism 15) whose a position is measured by three-dimensional measuring means (tracking type total station 20); moving means (printer actuator 16ac) for movably supporting the measuring target together with the printing head; and control means (PC14). The control means allows the travel means to travel to an arbitrary desired position, allows the moving means to move the measuring target in a lower direction until the floor surface is detected by the detection sensor at the desired position, then measures the uneven level of the floor surface based on the position of the measuring target measured by the three-dimensional measuring means, and allows the printing means to print uneven level information indicating the uneven level on the floor surface.SELECTED DRAWING: Figure 1
【課題】墨出し位置における床面の凹凸レベルの計測作業を自動化する。【解決手段】墨出しロボット１０は、走行手段（走行アクチュエータ１７ａｃ）と、印字ヘッドを有する印字手段（プリンタ１６）と、床面を検知する検知センサＳＮ２と、三次元計測手段（追尾型トータルステーション２０）によって位置が計測される計測ターゲット（指向性プリズム１５）と、印字ヘッドとともに計測ターゲットを移動可能に支持する移動手段（プリンタアクチュエータ１６ａｃ）と、制御手段（ＰＣ１４）と、を備えている。制御手段は、走行手段に任意の所望位置へ走行させ、所望位置において、移動手段に検知センサによって床面が検知されるまで計測ターゲットを下方向に移動させてから、三次元計測手段によって計測された計測ターゲットの位置に基づいて床面の凹凸レベルを計測し、印字手段に凹凸レベルを表す凹凸レベル情報を床面に印字させる。【選択図】図１
MARKING ROBOT, MARKING ROBOT SYSTEM, AND MEASURING ROBOT
To automate a measurement work of an uneven level of a floor surface at a marking position.SOLUTION: A marking robot 10 includes: travel means (travel actuator 17ac); printing means (printer 16) having a printing head; a detection sensor SN2 for detecting a floor surface; a measuring target (directive prism 15) whose a position is measured by three-dimensional measuring means (tracking type total station 20); moving means (printer actuator 16ac) for movably supporting the measuring target together with the printing head; and control means (PC14). The control means allows the travel means to travel to an arbitrary desired position, allows the moving means to move the measuring target in a lower direction until the floor surface is detected by the detection sensor at the desired position, then measures the uneven level of the floor surface based on the position of the measuring target measured by the three-dimensional measuring means, and allows the printing means to print uneven level information indicating the uneven level on the floor surface.SELECTED DRAWING: Figure 1
【課題】墨出し位置における床面の凹凸レベルの計測作業を自動化する。【解決手段】墨出しロボット１０は、走行手段（走行アクチュエータ１７ａｃ）と、印字ヘッドを有する印字手段（プリンタ１６）と、床面を検知する検知センサＳＮ２と、三次元計測手段（追尾型トータルステーション２０）によって位置が計測される計測ターゲット（指向性プリズム１５）と、印字ヘッドとともに計測ターゲットを移動可能に支持する移動手段（プリンタアクチュエータ１６ａｃ）と、制御手段（ＰＣ１４）と、を備えている。制御手段は、走行手段に任意の所望位置へ走行させ、所望位置において、移動手段に検知センサによって床面が検知されるまで計測ターゲットを下方向に移動させてから、三次元計測手段によって計測された計測ターゲットの位置に基づいて床面の凹凸レベルを計測し、印字手段に凹凸レベルを表す凹凸レベル情報を床面に印字させる。【選択図】図１
MARKING ROBOT, MARKING ROBOT SYSTEM, AND MEASURING ROBOT
墨出しロボット、墨出しロボットシステム、及び、計測ロボット
TSUBOKURA TETSUYA (author) / SHIKA ATSUSHI (author) / YASHIRO YUICHI (author) / SATO KOJI (author)
2021-02-04
Patent
Electronic Resource
Japanese
MARKING ROBOT SYSTEM AND CONTROL METHOD OF MARKING ROBOT
| European Patent Office | 2024