JP6999125B2 - Ceiling board construction support system - Google Patents

Description

The present invention relates to a ceiling board construction support system that supports a construction work of fixing a ceiling board to a field edge.

Gypsum board is used as a ceiling board that is a member of the ceiling inside a building. For example, a gypsum board having dimensions of thickness 12.5 × width 900 × length 1800 mm has a weight of a dozen kilograms. The construction of attaching one gypsum board to the field edge is generally performed by one or two workers.

The following work is required for the construction of the ceiling board. The worker works at a high place using a stepladder or the like, and goes up and down from the high place to the floor. The operator grips and transports the ceiling board, which is a heavy object. The operator lifts the ceiling board toward the field edge at a high place, and holds and aligns the ceiling board while maintaining an upward posture. The operator repeats screwing to the ceiling board while holding the ceiling board in the upward posture. In addition, in order to determine the dimensions of the ceiling board to be mounted next, the worker measures the dimensions of the place where the ceiling board is mounted at a high place, and copies the measured dimensions to the original plate of the ceiling board. Further, the worker cuts the original plate of the ceiling board to create a ceiling board that matches the measured dimensions.

Auxiliary tools are also used to assist in the construction of ceiling boards. Auxiliary tools are, for example, a device that lifts the ceiling board to the ceiling (air lifter, for example, MAX: AL2500) and a device that supports the lifted ceiling board (commonly known as a dragonfly, for example, 123 push poles manufactured by Ito Seisakusho). be.

Further, Patent Document 1 discloses an example of an interior construction robot that constructs a ceiling board. This interior construction robot can carry out the work related to the construction of the ceiling board, such as transporting the ceiling board, lifting the ceiling board, and tightening screws to the ceiling board.

Japanese Patent Application Laid-Open No. 3-96567

Construction of the ceiling board requires repeated work at high places, lifting heavy objects in an upward position, and screwing. The construction of the ceiling board is a work that puts a heavy physical burden on the worker. In addition, the construction of the ceiling board requires measurement of the construction site, copying of the measured dimensions, and cutting of the ceiling board that matches the measured dimensions. In other words, the construction of the ceiling board involves the delicate work unique to so-called technicians. Therefore, the worker is required not only to have the physical ability to withstand a heavy physical burden but also to have the ability as a technician. In addition, as a social background, the number of workers in charge of ceiling board construction is aging, and the number of new entrants in charge of such construction is decreasing. Therefore, there is a concern that the population of workers will decrease.

Auxiliary tools and the like currently on the market have a function of supporting the lifting of the ceiling board or the holding of the ceiling board, but do not fundamentally reduce the burden on the operator.

Further, the interior construction robot disclosed in Patent Document 1 is large in size because it has functions of transporting the ceiling board, lifting the ceiling board, and tightening screws to the ceiling board. Therefore, it is conceivable that such an interior construction robot may not be able to enter the room that is the construction site.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a construction robot capable of supporting the construction of a ceiling board while suppressing the increase in size.

(1) According to the ceiling board construction support system according to the present invention, the ceiling board construction support system is provided with a plurality of construction robots and a control unit for controlling the plurality of construction robots, and each of the above constructions is performed. The robot is provided with a self-propelled device capable of self-propelling on the floor in the construction area, a position detecting device for detecting the coordinate position of the self-propelled device on the floor, and at least one of a plurality of working units. The plurality of working parts include a ceiling state detecting part for detecting the state of the ceiling, a board supporting part for supporting the ceiling board, and a screwing part for striking a screw. It is provided in any of the construction robots, and the control unit acquires the coordinate positions of the construction robots from the position detection devices and controls the movement of the self-propelled device based on the coordinate positions.

According to the above configuration, since the ceiling state is detected by the ceiling state detection unit, the operator can grasp the ceiling state. Therefore, the worker can process the ceiling board according to the condition of the ceiling. Since the ceiling board is lifted and supported by the board support portion, the burden on the operator is reduced. Since the screw is driven by the screwing portion, the burden on the operator is reduced. Since the ceiling board construction support system includes a ceiling condition detection unit, a board support unit, and a screwing unit, it is possible to construct the ceiling board. Since the ceiling state detection unit, the board support unit, and the screw driving unit are distributed to a plurality of construction robots, each construction robot is miniaturized. Since the control device controls the movement of each construction robot based on the self-position of each construction robot, each construction robot can operate in cooperation with each other.

(2) Preferably, the plurality of construction robots are a first construction robot and a second construction robot, and the first construction robot includes the ceiling state detection unit and the board support portion, and the second construction robot. The construction robot includes the ceiling state detection unit and the screwing unit.

According to the above configuration, since both the first construction robot and the second construction robot are provided with the ceiling state detection unit, both the first construction robot and the second construction robot can detect the ceiling state.

(3) Preferably, the control unit performs screwing on the ceiling board supported by the board support portion of the first construction robot by the screwing portion of the second construction robot, and a plurality of screws are used. After screwing a part of the position, the first construction robot is moved away from the ceiling board.

According to the above configuration, after the second construction robot strikes a part of the screw position, the first construction robot separates from the ceiling board. When the temporary fixing is completed, the first construction robot, which interferes with the screwing, is evacuated, so that the screwing work is efficiently executed.

(4) Preferably, each of the above-mentioned construction robots is provided with an elevating device for raising and lowering the above-mentioned working part.

(5) Preferably, each of the above-mentioned construction robots is provided with a rotating device for rotating the above-mentioned working portion.

(6) Preferably, the ceiling state detection unit includes a distance sensor and a moving device for moving the distance sensor, and the control unit causes the screwing unit to perform screwing. While moving the distance sensor so that the distance from the ceiling board is constant, the distance to the screw where the screw is hit is detected, and the state of the screw is determined based on the detection result of the distance sensor. ..

According to the above configuration, since the ceiling state detection unit includes the distance sensor and the moving device, the control unit can detect the state of the screw based on the detection result detected by the ceiling state detection unit.

(7) Preferably, the ceiling state detection unit includes an image pickup device that captures an image of the ceiling.

According to the above configuration, since the ceiling state detection unit includes an image pickup device, information on the ceiling state can be obtained based on the image of the ceiling.

(8) Preferably, the ceiling board is pre-marked with a screw position, and the screw striking portion includes a screw striking machine for striking a screw and a moving device for moving the screw striking machine . The control unit detects the screw position based on the image information acquired from the image pickup device, operates the moving device of the screw driving unit, and drives the screw at the position corresponding to the detected screw position. Move the machine.

According to the above configuration, the control device detects the screw position and moves the screw driving machine to the position corresponding to the screw position, so that the screw driving operation is automatically executed. Therefore, the burden on the worker is reduced.

(9) Preferably, the control unit has the first end position of the first ceiling board already fixed to the field edge and the board based on the image information acquired from the image pickup apparatus and the distance information to the ceiling. The position of the second end of the second ceiling board supported by the support portion is determined, and the self-propelled device is operated to move the board support portion based on the first end position and the second end position.

According to the above configuration, since the control device controls the board support portion to perform the alignment of the ceiling board, it is not necessary for the operator to align the ceiling board by himself / herself. Therefore, the burden on the worker is reduced.

(10) Preferably, the reference device installed in the construction area and indicating the position reference is further provided, and the position detection device detects the coordinate position based on the position reference acquired from the reference device.

(11) Preferably, an input / output device having an input unit and a display is further provided, and the control unit is constructed so that the ceiling board is installed at the construction site input from the input unit. It controls the self-propelled device and the working unit of the robot.

According to the above configuration, when the construction site is input to the input / output device, the construction of the ceiling board at this construction site is automatically executed, so that the burden on the operator is reduced.

(12) Preferably, the control unit displays the image of the ceiling and the scale information of the image on the display based on the image information acquired from the image pickup apparatus and the distance information to the ceiling.

According to the above configuration, since the image of the ceiling and the scale information thereof are displayed on the display, information on the dimensions of the elements included in the ceiling portion can be obtained.

(13) Preferably, the control unit stops the driving of the self-propelled device and the working unit of each of the construction robots based on the emergency stop command input from the input unit.

According to the above configuration, when the emergency stop command is input from the input / output device, the drive of each construction robot is stopped, so that the operator can prevent the defective construction work from being continued due to the occurrence of an abnormality.

According to the present invention, there is provided a construction robot capable of supporting the construction of a ceiling board while suppressing the increase in size.

FIG. 1 is an overall view of the ceiling board construction support system 10 according to the present embodiment. FIG. 2 is a block diagram of the ceiling board construction support system 10 according to the present embodiment. FIG. 3 is a perspective view showing the first construction robot 11 according to the present embodiment. FIG. 4 is a perspective view showing the second construction robot 12 according to the present embodiment. FIG. 5 is a perspective view showing the tablet 14 according to the present embodiment. FIG. 6 is a diagram showing a control flow of the construction support system 10 according to the present embodiment. FIG. 7 is a diagram showing a control flow of the construction support system 10 according to the present embodiment. FIG. 8 is a diagram showing a control flow of the construction support system 10 according to the present embodiment. FIG. 9 is a diagram showing a ceiling board 15 on which the screw position 65 according to the present embodiment is marked. FIG. 10 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 11 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 12 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 13 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 14 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 15 is a diagram showing a working state of the construction support system 10 according to the present embodiment. FIG. 16 is a diagram showing a working state of the construction support system 10 according to the present embodiment.

Hereinafter, preferred embodiments of the present invention will be described. Needless to say, each embodiment is only one embodiment of the present invention, and the embodiments can be changed without changing the gist of the present invention.

[Ceiling board construction support system 10 according to this embodiment]
As shown in FIG. 1, the ceiling board construction support system (hereinafter referred to as construction support system) 10 according to the present embodiment includes a first construction robot 11, a second construction robot 12, a marker 13, and a tablet 14 (FIG. 1). 2, FIG. 5, an example of an input / output device) and a control unit (two lower control devices 25, two upper control devices 33, 43) are provided. In the present embodiment, this control unit is arranged in the first construction robot 11 and the second construction robot 12. The construction support system 10 is used in a construction area, for example, in a building partitioned by pillars and walls. In the present embodiment, the construction area is the interior 100 of the building. The room 100 has a floor 101, a pillar 102, and a ceiling portion 110. Further, the room 100 is provided with a board installation position 16 in which the ceiling board 15 is integrated. The construction support system 10 according to the present embodiment constructs the ceiling board 15 in cooperation with one worker 17.

The construction support system 10 can carry out the work necessary for the construction of the ceiling board 15, the work of transporting the ceiling board 15, the work of screwing the ceiling board 15, and the work of measuring at the next construction location. Here, in the work of transporting the ceiling board 15, the ceiling board 15 is transported from the board installation position 16 to the construction site, the ceiling board is lifted from the construction site toward the construction site directly above the board, and the ceiling board 15 is aligned. Refers to work. The construction location refers to a location on the floor 101, the construction location refers to a location on the ceiling portion 110, and the construction location is located directly above the construction location. The measuring work is a work of acquiring information on the outer shape and the screw position of the ceiling board 15 required at the next construction site of the ceiling portion 110. Specifically, the measuring work is a work of acquiring an image of the ceiling portion 110 of the next construction site.

In the construction support system 10, work units for carrying out transport work, screwing work, and measuring work are arranged in a distributed manner in the first construction robot 11 and the second construction robot 12. The first construction robot 11 is provided with a work unit (board support unit 31) in charge of transport work and a work unit (first ceiling state detection unit 32) in charge of measurement work. The second construction robot 12 is provided with a work unit (screw driving unit 41) in charge of screwing work.

The construction support system 10 includes at least two markers 13. The marker 13 is a reference device installed on the floor 101 and indicating the position reference of the coordinates set on the floor 101. As will be described later, each construction robot identifies the self-position of each construction robot based on the distance to the two markers 13. The marker 13 has a rod-shaped body that can stand on the floor 101 and a reflector 56 (FIG. 2) fixed to the rod-shaped body. The position where the marker 13 is installed is not limited to the floor 101 as long as it is indoor 100. The marker 13 may be installed on the wall or pillar of the room 100.

As shown in FIGS. 2 and 3, the first construction robot 11 includes a lower portion 18 and an upper portion 19. The lower portion 18 includes a position detection device 21, a self-propelled device 22, a rotation device 23, an elevating device 24, and a lower control device 25. The upper portion 19 includes a board support portion 31, a first ceiling state detection unit 32 (an example of a ceiling state detection unit), and an upper control device 33.

As shown in FIGS. 2 and 3, the position detection device 21 is a device that detects the coordinate position of the first construction robot 11 (self-propelled device 22) on the floor 101. The position detection device 21 includes a distance sensor 26 and a gyro sensor 27.

The distance sensor 26 is a laser rangefinder, for example, a laser measuring instrument. The distance sensor 26 irradiates the marker 13 with light, and receives the reflected light reflected by the reflector 56 of the marker 13. The distance sensor 26 detects the distance from itself to the marker 13 based on the reflected light. Based on the two distances obtained for the two markers 13 by the distance sensor 26, it is possible to identify the relative position of the first construction robot 11 equipped with the distance sensor 26 with respect to the marker 13. Here, the lower control device 25 stores the coordinate data of the floor 101 whose coordinates are set for each position on the floor 101 and the coordinates of the marker 13. Therefore, based on the coordinates of the two markers 13, the coordinates of the current positions of the two markers 13 whose relative positions have been specified are specified by the calculation in the lower control device 25.

The gyro sensor 27 detects the posture of the first construction robot 11 (self-propelled device 22) that is moving. Based on the posture detected by the gyro sensor 27, it is specified whether or not the first construction robot 11 is traveling on the inclined surface or the step of the floor 101. The measurement of the distance to the marker 13 by the distance sensor 26 is performed when the first construction robot 11 is traveling on the floor 101 in a portion parallel to the horizontal plane.

As shown in FIGS. 2 and 3, the self-propelled device 22 is a device capable of self-propelling on the floor 101. The self-propelled device 22 according to the present embodiment includes a vehicle body 30, two drive wheels 28 arranged on the left and right, two driven wheels 29 arranged on the front and rear, and a motor that independently drives the two drive wheels 28. , Is equipped. Since each drive wheel 28 is configured to be independently driveable, the self-propelled device 22 can turn without moving.

As shown in FIGS. 2 and 3, the rotating device 23 is a device that rotates the upper portion 19 with respect to the self-propelled device 22. The rotary device 23 includes a fixed table fixed to the vehicle body 30, a rotary table 57 that can rotate with respect to the fixed table, and a motor that rotates the rotary table 57 with respect to the fixed table. The elevating device 24 is a device that elevates and lowers the upper portion 19 in the vertical direction with respect to the self-propelled device 22. The elevating device 24 includes a base 58 fixed to the rotary table 57, a support rod 59 that moves in the vertical direction with respect to the base 58, and a motor that moves the support rod 59. In the present embodiment, the rotating device 23 is arranged on the self-propelled device 22, and the elevating device 24 is arranged on the rotating device 23. Therefore, the rotating device 23 rotates the elevating device 24 with respect to the self-propelled device 22, and the elevating device 24 raises and lowers the upper portion 19 with respect to the rotating device 23.

As shown in FIG. 2, the lower control device 25 receives the signal input from the position detection device 21 and controls the operation of the self-propelled device 22, the rotating device 23, and the elevating device 24. The lower control device 25 includes a memory and a calculation unit (CPU). The memory includes data necessary for processing the information obtained by the position detecting device 21, programs and data including algorithms necessary for operating the self-propelled device 22, the rotating device 23, and the elevating device 24. I remember. This data includes the coordinate data described above. The arithmetic unit controls the self-propelled device 22, the rotating device 23, and the elevating device 24 according to the data stored in the memory, the distance information obtained by the position detection device 21, and the received command. A command is transmitted to the lower control device 25 from other control devices 25, 33, 43 constituting the control unit constituting the construction support system 10.

As shown in FIGS. 2 and 3, the board support portion 31 is a working portion that supports the ceiling board 15. The board support portion 31 includes a support machine 34 and a tilting device 35. The support machine 34 includes a support frame 60 for supporting the ceiling board 15, and a locking claw 61 for locking the ceiling board 15. The locking claw 61 can protrude and immerse from the support frame 60. The tilting device 35 is a device that changes the posture of the support machine 34, and includes a motor. The tilting device 35 can tilt the support machine 34 around the horizontal axis by driving this motor. The tilting device 35 tilts the posture of the support machine 34 when the ceiling board 15 is handed over from the worker 17, and when the ceiling board 15 is transported and when the ceiling board 15 is lifted toward the ceiling portion 110. Keep the posture of the support machine 34 horizontal. Hereinafter, the position where the posture of the support machine 34 is tilted is referred to as an inclined position, and the position where the posture of the support machine 34 is maintained horizontally is referred to as a horizontal position. The locking claw 61 protrudes when the ceiling board 15 is delivered to prevent the ceiling board 15 from falling off from the inclined support frame 60. Further, when the ceiling board 15 is pressed against the field edge 111 of the ceiling, it is immersed in order to prevent interference with the ceiling board 15 fixed to the field edge 111.

As shown in FIGS. 2 and 3, the first ceiling state detection unit 32 is a working unit that detects the state of the ceiling portion 110. The first ceiling state detection unit 32 includes a camera (imaging device) 36 and a distance sensor 37. The camera 36 is a device that captures an image of the ceiling portion 110. The distance sensor 37 is a sensor that measures the distance from the distance sensor 37 to the ceiling portion 110. The image information acquired by the camera 36 is information in a plane parallel to the horizontal plane of the ceiling portion 110. This image information is information on the positions and dimensions of the elements included in the ceiling portion 110, the field edge 111, and the ceiling board 15 fixed to the field edge 111. The distance information acquired by the distance sensor 37 includes information on the height from the distance sensor 37 to the ceiling portion 110. Assuming that the zoom magnification of the image information is constant, the distance information gives the scale of an element such as the field edge 111 included in the image information. Therefore, based on the image information and the distance information, information on the elements included in the ceiling portion 110, that is, information on the arrangement position and dimensions of the field edge 111 and information on the position and dimensions of the ceiling board 15 fixed to the field edge 111 can be obtained. Be done.

As shown in FIG. 3, the first ceiling state detection unit 32 is provided on the tilting device 35 of the board support unit 31. Therefore, the tilting device 35 tilts the postures of both the board support portion 31 and the first ceiling state detecting portion 32. That is, the postures of the board support portion 31 and the first ceiling state detection portion 32 are changed from the horizontal position to the inclined position.

As shown in FIG. 2, the upper control device 33 receives the signal input from the first ceiling state detection unit 32 and controls the operation of the board support unit 31. The upper control device 33 includes a memory and a calculation unit (CPU). The memory includes a program and data including an algorithm necessary for operating the board support unit 31, and data necessary for processing the information obtained by the first ceiling state detection unit 32. This data includes the zoom magnification data described above. The arithmetic unit operates the tilting device 35 of the board support unit 31 according to the data stored in the memory, the image information obtained by the first ceiling state detection unit 32, the distance information, and the received command. A command is transmitted to the upper control device 33 from other control devices 25, 25, 43 constituting the control unit constituting the construction support system 10.

As shown in FIGS. 2 and 4, the second construction robot 12 includes a lower portion 18 and an upper portion 20. The lower portion 18 of the second construction robot 12 has the same configuration as the lower portion 18 of the first construction robot 11. Therefore, the description of the lower portion 18 of the second construction robot 12 is omitted. The upper portion 20 includes a screw driving portion 41, a second ceiling state detection unit 42, and an upper control device 43.

As shown in FIGS. 2 and 4, the screw striking portion 41 is a working portion for striking a screw. The screw driving portion 41 includes a screw driving machine 44 and a moving device 45. The screw driving machine 44 is a device for driving a screw, and includes a piston for delivering the screw and a motor for driving the piston. The moving device 45 is a device for moving the screw driving machine 44. The moving device 45 includes a rail 62 extending in the horizontal direction, an arm 63 rotatable with respect to the rail 62, and a motor for rotating the arm 63. The screw driving machine 44 is provided at the tip of the arm 63. Therefore, the moving device 45 makes the screw driving machine 44 reciprocating along the rail 62 and makes it rotatable with respect to the rail 62 by the rotation of the arm 63.

As shown in FIGS. 2 and 4, the second ceiling state detection unit 42 is a working unit that detects the state of the ceiling portion 110. The second ceiling state detection unit 42 includes a camera (imaging device) 46, a distance sensor 47, and a moving device 45. The camera 46 is a device that captures an image of the ceiling portion 110. The distance sensor 47 is a sensor that measures the distance from the distance sensor 47 to the ceiling portion 110. Since the camera 46 and the distance sensor 47 of the second ceiling state detection unit 42 have the same functions as the camera 36 and the distance sensor 37 of the first ceiling state detection unit 32, the description thereof will be omitted.

The moving device 45 supports and moves the entire screw driving machine 44 of the screw driving unit 41, the camera 46 of the second ceiling state detection unit 42, and the distance sensor 47. In the present embodiment, the moving device 45 is also used in both the screw driving unit 41 and the second ceiling state detection unit 42, but the moving device is provided in each of the screw driving unit 41 and the second ceiling state detection unit 42. You may.

As shown in FIG. 2, the upper control device 43 receives the signal input from the second ceiling state detection unit 42 and controls the operation of the screwing unit 41.

As shown in FIG. 2, the construction support system 10 has the four control devices described above, that is, the lower control device 25 and the upper control device 33 of the first construction robot 11, and the second construction robot 12 as control units. It includes a lower control device 25 and an upper control device 43. The lower control device 25 and the upper control device 33 of the first construction robot 11 can communicate with each other by a wired connection. The lower control device 25 and the upper control device 43 of the second construction robot 12 can communicate with each other by a wired connection. Further, the first construction robot 11 and the second construction robot 12 are each equipped with a wireless communication device. Therefore, the lower control device 25 and the upper control device 33 of the first construction robot 11 and the lower control device 25 and the upper control device 43 of the second construction robot 12 can communicate with each other wirelessly. The two lower control devices 25 and the two upper control devices 33 and 43 can communicate with each other and can function as an integrated control device.

In the present embodiment, the control unit is dispersed in each construction robot and is dispersed in the lower portion 18 and the upper portions 19 and 20 in each construction robot. Therefore, the lower control device 25 can have a configuration specialized for controlling the lower portion 18 in charge of traveling and the like, and the upper control devices 33 and 43 are specially designed for controlling the upper portions 19 and 20 in charge of work. It can have a modified configuration. Therefore, when designing a construction robot with different work, it is not necessary to design a dedicated control device for controlling the construction robot each time, and an existing control device can be used.

As shown in FIGS. 2 and 5, the tablet 14 includes a touch panel 51 (an example of an input unit and a display), a memory 52, a control device 53, and a wireless communication device. The control device 53 includes a calculation unit (CPU). The touch panel 51 functions as an input device and a display device. The memory 52 can store information about the construction procedure. The control device 53 can receive a signal input from the touch panel 51 as an input device and display an image on the touch panel 51 as an output device. Further, the tablet 14 can input an emergency stop signal from the touch panel 51. The control unit stops the driving of the first construction robot 11 and the second construction robot 12 based on the input emergency stop signal. The tablet 14 can communicate with the two lower control devices 25 and the two upper control devices 33 and 43 provided in the first construction robot 11 and the second construction robot 12 via the wireless communication device.

The coordinate position data of the first construction robot 11 is transmitted from the lower control device 25 of the first construction robot 11 to the lower control device 25 of the second construction robot 12. Similarly, the data of the coordinate position of the second construction robot 12 is transmitted from the lower control device 25 of the second construction robot 12 to the lower control device 25 of the first construction robot 11. The lower control device 25 of the first construction robot 11 is based on the coordinate position of the first construction robot 11 and the coordinate position of the second construction robot 12, and the movement path of the first construction robot 11 that does not collide with the second construction robot 12. Can be identified. Similarly, the lower control device 25 of the second construction robot 12 does not collide with the first construction robot 11 based on the coordinate position of the first construction robot 11 and the coordinate position of the second construction robot 12. Can identify the movement route of. In this way, the control units (two lower control devices 25, two upper control devices 33, 43) are from the position detection devices 21 of the first construction robot 11 and the second construction robot 12 to the first construction robot 11 and the second. The coordinate position of the construction robot 12 is acquired, and the self-propelled device 22 of the first construction robot 11 and the second construction robot 12 is controlled based on the acquired coordinate position.

The control in the construction support system 10 will be described with reference to FIGS. 6 to 16. 6 to 8 are diagrams showing a control flow of the construction support system 10 according to the present embodiment. FIG. 9 is a diagram showing a ceiling board 15 on which the screw position 65 according to the present embodiment is marked. 10 to 16 are views showing a working state of the construction support system 10 according to the present embodiment.

As shown in FIG. 6, the control flow is started by turning on the power of the tablet 14 (S1).

As shown in FIG. 5, the touch panel 51 of the tablet 14 displays an image 54 of a construction site in the ceiling portion 110 of the room 100. This image 54 shows a construction drawing (a view in a state where the construction is completed) of the ceiling portion 110. The construction drawing data including the image 54 is stored in the memory 52 in advance. The construction drawing shows 20 ceiling boards 15 fixed to the construction site. The shape of the ceiling boards 15 is rectangular, and the ceiling boards 15 are arranged adjacent to each other without any gap. The operator 17 can specify the construction location corresponding to the ceiling board portion 55 by designating any of the ceiling board portions 55 on the image 54 by the input operation of the touch panel 51. As described below, each time construction is completed at one construction site, a new construction site is designated. That is, the construction sites are designated one by one. The numbers in the construction drawings shown in FIG. 5 indicate the schedule of the construction order. The schedule of this construction order is stored in the memory 52, for example, by the operator 17 performing an input operation at the start of the work. Alternatively, the schedule of the construction order may be stored in advance as default data together with the data of the construction drawing. The worker 17 may specify the next construction site in numerical order according to this schedule, or may change this schedule and specify the next construction site in an order different from the numerical order.

As shown in FIG. 6, the control device 53 of the tablet 14 continues to display the image 54 until there is an input from the operator 17 (S2). When the control device 53 receives the input of the next construction location (next ceiling board 15) by the operator 17 (S3), the control device 53 calculates the coordinate position data regarding the next construction location and transmits it to the first construction robot 11. (S4).

As shown in FIG. 6, the lower control device 25 of the first construction robot 11 is in a state of waiting for a command at the start time of the control flow and at the time when one construction is completed (S101). Upon receiving the data of S4 from the control device 53 of the tablet 14, the lower control device 25 of the first construction robot 11 executes the route calculation and moves the first construction robot 11 to the next construction site (S102). In this route calculation, the movement route from the current position of the first construction robot 11 to the next construction site is calculated. The state of step S102 is the state shown in FIGS. 10 (A) to 10 (B). Next, the lower control device 25 of the first construction robot 11 controls the first ceiling state detection unit 32 to acquire ceiling data (image information and distance information) of the next construction location, and the first construction robot 11 A command is transmitted to the upper control device 33 (S103).

As shown in FIG. 6, the upper control device 33 of the first construction robot 11 is in a state of waiting for a command at the start time of the control flow and at the time when one construction is completed (S151). When the upper control device 33 of the first construction robot 11 receives the command of S103 from the lower control device 25 of the first construction robot 11, the upper control device 33 of the first construction robot 11 activates the camera 36 and the distance sensor 37 of the first ceiling state detection unit 32 to activate the ceiling portion. Acquire the ceiling data of 110 (S152). Next, the upper control device 33 of the first construction robot 11 transmits the acquired ceiling data to the lower control device 25 of the first construction robot 11 (step S153). The states of steps S152 and S153 are the states shown in FIG. 10 (B).

When the lower control device 25 of the first construction robot 11 receives the ceiling data of S153, the lower control device 25 transmits the ceiling data to the tablet 14 (S104). When the control device 53 of the tablet 14 receives the ceiling data of S104, it displays the ceiling data on the touch panel 51 and transmits a command to synchronize the movements of the first construction robot 11 and the second construction robot 12 (S5). Here, in the tuning, the lower control device 25 of the first construction robot 11 and the lower control device 25 of the second construction robot 12 transmit their own coordinate positions to each other and avoid the coordinate positions of the other party when moving. It refers to controlling the self-propelled device 22.

Step S5 is the above-mentioned measuring operation. When the ceiling data is displayed on the touch panel 51 in step S5, the operator processes the outer shape of the ceiling board 15 according to the next construction location, and assigns a screw position to the ceiling board 15.

The ceiling board 15 loaded at the board installation position 16 is a master plate whose outer shape is standardized to predetermined dimensions (for example, thickness 12.5 x width 900 x length 1800 mm), and basically this master plate is a field edge. It is fixed to 111. However, depending on the construction location, the ceiling board 15 of the original plate may interfere with the wiring, piping, or pillar 102 in the ceiling portion 110. In order to prevent such interference, the outer shape of the ceiling board 15 is processed as necessary. For example, the ceiling board 15 fixed to the construction site corresponding to the ceiling board portion 55a shown in FIG. 5 is created by cutting the ceiling board of the original plate in about half in the longitudinal direction.

The screw position is assigned according to the position of the field edge 111 so that the screw is driven into the field edge 111 via the ceiling board 15. The worker 17 gives the ceiling board 15 a marking indicating the position of the screw by using ink or the like. FIG. 9 shows a state in which the ceiling board 15 is marked with the screw position 65. In this example, four rows of screw positions 65 are provided, and each row includes ten screw positions 65. Here, the touch panel 51 displays an image of the ceiling portion 110, which is ceiling data, and scale information of this image. Therefore, the worker 17 can grasp the actual dimensions of the pillar 102, the field edge 111, the already fixed ceiling board 15, and the like from the image displayed on the touch panel 51. Therefore, the operator 17 can easily process the outer shape of the ceiling board 15 and assign the screw position by looking at the image displayed on the touch panel 51. The ceiling board 15 whose outer shape has been processed in advance and which has a screw position may be integrated at the board installation position 16.

As shown in FIG. 6, when the lower control device 25 of the first construction robot 11 receives the command of S5, the lower control device 25 moves the first construction robot 11 to the board installation position 16 (S105). The coordinates of the board installation position 16 are included in the coordinate data of the floor 101 stored in the memory of the lower control device 25, and the lower control device 25 moves the first construction robot 11 from the current position to the board installation position 16. You can calculate the route. Upon receiving the end of step S105 transmitted from the lower control device 25, the upper control device 33 of the first construction robot 11 overturns the support machine 34 of the board support unit 31 (step S154). Specifically, the upper control device 33 changes the posture of the support device 34 from the horizontal position to the inclined position. The states of steps S105 and S154 are the states shown in FIGS. 12 (A) via FIGS. 11 (A) and 11 (B).

As shown in FIG. 6, when the control device 53 of the tablet 14 receives the end of step S105 transmitted from the lower control device 25, it determines whether or not the setting of the ceiling board 15 to the support device 34 is completed. (S6). As shown in FIGS. 11B, 12A, and 12B, the worker 17 sets the ceiling board 15 integrated at the board installation position 16 on the support machine 34. At this time, since the posture of the support machine 34 is in the inclined position and the locking claw 61 is in a protruding state, the operator 17 can easily place the ceiling board 15 on the support machine 34. When the setting of the ceiling board 15 is completed, the worker 17 inputs to the touch panel 51 that the setting is completed. Here, the ceiling board 15 set in the support machine 34 is a ceiling board 15 that has been processed and screwed according to the next construction location. When the control device 53 of the tablet 14 receives the input to the effect that the setting to the support machine 34 is completed, the control device 53 transmits the board set completion FLAG to the lower control device 25 of the first construction robot 11 (S7).

As shown in FIG. 6, when the lower control device 25 of the first construction robot 11 receives the board set completion FLAG in step S7 (S106), the posture of the support machine 34 of the board support portion 31 is returned to the horizontal position ( S155). The state of step S155 is the state shown in FIG. 13 (B). Further, when the lower control device 25 of the first construction robot 11 receives the board set completion FLAG in step S7 (S106), the lower control device 25 executes the route calculation from the board installation position 16 to the next construction location and moves to the next construction location. The first construction robot 11 is moved, and the ceiling board 15 is lifted to a position where it comes into contact with the field edge 111 (S107). The state of step S107 is the state shown in FIG. 14 (A). The lower control device 25 of the first construction robot 11 specifies a position in contact with the field edge 111 based on the distance information included in the ceiling data acquired in step S152. Upon receiving the completion of step S155 transmitted from the upper control device 33, the lower control device 25 of the first construction robot 11 transmits the completion FLAG to the control device 53 of the tablet 14 (S108). Upon receiving the completed FLAG in step S108, the control device 53 of the tablet 14 starts the board position fine adjustment process (S8).

As shown in FIG. 6, the lower control device 25 of the second construction robot 12 is in a state of waiting for a command at the start time of the control flow and at the time when one construction is completed (S201). When the control device 53 of the tablet 14 starts the board position fine adjustment process in step S8, the lower control device 25 of the second construction robot 12 executes the route calculation from the current position of the second construction robot 12 to the next construction site. Then, the second construction robot 12 is moved to the next construction site (S202).

As shown in FIG. 7, when the control device 53 of the tablet 14 starts the board position fine adjustment process in step S8, the movements of the first construction robot 11 and the second construction robot 12 are synchronized in the board position fine adjustment work. A command is transmitted to the lower control device 25 of the first construction robot 11 and the lower control device 25 of the second construction robot 12 (S9).

As shown in FIG. 7, the lower control device 25 of the second construction robot 12 executes the board position fine adjustment work when the movement of step S202 is completed (S203). When the board position fine adjustment work is executed, the upper control device 43 of the second construction robot 12 activates the camera 46 and the distance sensor 47 of the second ceiling state detection unit 42, and the board position data (image information and distance). Information) is acquired, and the movement data of the first construction robot 11 is calculated based on the acquired board position data (S251). Here, when the second ceiling state detection unit 42 is activated, as shown in FIGS. 14A and 14B, the upper control device 43 of the second construction robot 12 controls the elevating device 24. , The second ceiling state detection unit 42 is brought closer to the ceiling portion 110.

The movement data of the first construction robot 11 in step 203 is created as follows. Based on the board position data, the upper control device 43 of the second construction robot 12 has the end position (first end position) of the ceiling board 15 already fixed to the field edge 111 and the ceiling supported by the board support portion 31. It is determined that the board 15 is at the end position (second end position). Each end position is determined by image recognition of the image information included in the board position data. The upper control device 43 of the second construction robot 12 stores a program for performing image recognition. The upper control device 43 of the second construction robot 12 can specify the inclination angles of the first end position and the second end position based on the determined first end position and the second end position. Further, the upper control device 43 of the second construction robot 12 has the determined first end position and second end position, and the first end position and the second end position based on the distance information included in the board position data. The separation distance can be specified. This inclination angle is the rotation angle of the ceiling board 15 required for the alignment of the ceiling board 15, and this separation distance is the moving distance of the ceiling board 15 required for the alignment of the ceiling board 15. Therefore, the upper control device 43 of the second construction robot 12 is the first based on the determined separation distance between the first end position and the second end position and the inclination angle between the first end position and the second end position. The moving direction, moving distance, and rotation angle of the board support portion 31 required to substantially match the end position and the second end position can be specified. The moving direction, moving distance, and rotation angle of the board support portion 31 specified here are the movement data of the board support portion 31 necessary for the alignment of the ceiling board 15.

Next, the upper control device 43 of the second construction robot 12 transmits the movement data created in step S251 to the lower control device 25 of the first construction robot 11 (S252).

As shown in FIG. 7, when the lower control device 25 of the first construction robot 11 receives the command of step S9, the board position fine adjustment work is executed (S109). In the board position fine adjustment work of step S109, the lower control device 25 of the first construction robot 11 moves the self-propelled device 22 and rotates the rotating device 23 based on the movement data of step S252.

As shown in FIG. 7, the upper control device 43 of the second construction robot 12 determines whether or not the board position fine adjustment work is completed after transmitting the movement data in step S252 (S253). This determination is made as follows. When there is no movement data calculated in step S251, that is, when it is not necessary to drive the self-propelled device 22 and the rotating device 23 of the first construction robot 11, the upper control device 43 of the second construction robot 12 has a board position. It is determined that the fine adjustment work has been completed. When the movement data calculated in step S251 exists, the upper control device 43 of the second construction robot 12 determines that the board position fine adjustment work has not been completed. When the upper control device 43 of the second construction robot 12 determines that the board position fine adjustment work has not been completed, the upper control device 43 transmits a command to the lower control device 25 of the second construction robot 12 to execute step S203 again. (S253: No). When the upper control device 43 of the second construction robot 12 determines that the board position fine adjustment work is completed (S253: Yes), the lower control device 25 of the second construction robot 12 is completed by the control device 53 of the tablet 14 FLAG. Is transmitted (S204).

As shown in FIG. 7, when the control device 53 of the tablet 14 receives the completed FLAG in step S204, the temporary striking operation is started (S10). Here, the temporary striking work refers to the work of striking a certain number of screws on the ceiling board 15 in order to temporarily fix the ceiling board 15. A certain number of screws are part of the total number of screws struck to secure the ceiling board 15. The data of the number of screws (fixed number and total number) struck on each ceiling board 15 is stored in the memory 52 of the tablet 14, and the control device 53 of the tablet 14 to the upper control device 43 of the second construction robot 12. Has been sent to.

As shown in FIG. 8, when the control device 53 of the tablet 14 starts the temporary striking work in step S10, the first command is to synchronize the movements of the first construction robot 11 and the second construction robot 12 in the temporary striking work. It is transmitted to the lower control device 25 of the construction robot 11 and the lower control device 25 of the second construction robot 12 (S11).

As shown in FIG. 8, when the lower control device 25 of the first construction robot 11 receives the start of the temporary striking work of step S10 transmitted from the control device 53 of the tablet 14, the ceiling board 15 is kept fixed. .. That is, the lower control device 25 of the first construction robot 11 keeps the self-propelled device 22 and the rotating device 23 in the stopped state (S110). The state of step S110 is the state shown in FIG. 15 (A).

As shown in FIG. 8, when the lower control device 25 of the second construction robot 12 receives the start of the temporary striking work of step S10 transmitted from the control device 53 of the tablet 14, it controls the self-propelled device 22. The second construction robot 12 is moved to the construction site, and a screwing command is transmitted to the upper control device 43 of the second construction robot 12 (S205). The state of step S205 is the state shown in FIG. 15 (A).

Upon receiving the screw driving command, the upper control device 43 of the second construction robot 12 controls the lower control of the second construction robot 12 to synchronize the movements of the first construction robot 11 and the second construction robot 12 in the temporary driving operation. It is transmitted to the device 25 (S254).

Upon receiving the command in step S254, the upper control device 43 of the second construction robot 12 searches for a place to be screwed, controls the moving device 45 to move the screwing machine 44 to the hitting position, and makes the screwing machine. Have 44 hit a screw (S255).

Similar to step S251, the upper control device 43 of the second construction robot 12 activates the camera 46 and the distance sensor 47 of the second ceiling state detection unit 42 to search for the place to screw, and the board position data (image). It is done by acquiring information (information and distance information). As described above, since the ceiling board 15 is marked with the screw position 65, the upper control device 43 of the second construction robot 12 can specify the marking position of the screw position 65 from the image information included in the board position data. .. However, the screw position 65 specified based on this image information does not necessarily give a highly accurate coordinate position.

The movement of the screw driving machine 44 to the striking position is performed as follows. When the screw position 65 is specified, the upper control device 43 specifies the horizontal separation distance from the screw position 65 to the camera 46. The upper control device 43 drives the moving device 45 by a specified separation distance via the lower control device 25 so that the camera 46 is located directly below the screw position 65. Here, since the accuracy of the screw position 65 is low, the accuracy of the separation distance is also low. Therefore, it is difficult to reach the camera 46 directly under the screw position 65 with one movement, and fine adjustment movement is required. That is, the upper control device 43 repeats the identification of the screw position 65 and the movement of the moving device 45 in a feedback manner until the camera 46 reaches directly below the screw position 65. When the camera 46 reaches directly below the screw position 65, the upper control device 43 drives the moving device 45 to move the screw driving machine 44 instead of the camera 46 directly below the screw position 65. Here, since the coordinate position of the second construction robot 12 and the orientation of the screw driving portion 41 in the horizontal plane are specified, the orientation and the relative distance of the camera 46 with respect to the screw driving machine 44 in the horizontal plane are specified. The upper control device 43 can move the screw driving machine 44 instead of the camera 46 directly below the screw position 65 based on the specified orientation and relative distance.

The upper control device 43 of the second construction robot 12 stores a program for determining the order of screwing according to the number of screws (fixed number and total number) described above. Based on the number of screws at the current construction site and this program, the upper control device 43 of the second construction robot 12 determines the order of the current screw striking. The above-mentioned striking position is the position of the screw striking machine 44 corresponding to the specified screw position 65, that is, the position of the screw striking machine 44 capable of striking a screw at the screw position. The state of step S255 is the state shown in FIG. 15 (A).

Further, when the upper control device 43 of the second construction robot 12 causes the screw driving machine 44 to strike a screw, the upper control device 43 determines the result of the screw striking (S255). The determination of the result of this screwing is executed one by one. Judgment of the result of screwing is performed as follows. The upper control device 43 of the second construction robot 12 controls the moving device 45 of the second ceiling state detection unit 42 to revolve the distance sensor 47 of the second ceiling state detection unit 42 around the head of the screw. Specifically, the distance sensor 47 provided at the tip of the arm 63 revolves around the base end of the arm 63 so as to draw a circular orbit. While rotating, the distance sensor 47 irradiates light toward the ceiling board 15 in the peripheral portion where the screw is struck and receives the reflected light. As the sensor rotates around the screw, the light irradiation position changes with respect to the peripheral edge of the screw head. When the condition of the screw is good, that is, when the axis of the screw is substantially perpendicular to the ceiling board 15, the head of the screw is substantially parallel to the surface of the ceiling board 15. In this case, the detection result obtained by the distance sensor 47 is constant regardless of the rotational position of the distance sensor 47. If the condition of the screw is poor, that is, if the axis of the screw is tilted with respect to the ceiling board 15, the head of the screw is tilted with respect to the surface of the ceiling board 15. In this case, the detection result obtained by the distance sensor 47 varies depending on the rotation position of the distance sensor 47. Here, the threshold value of the inclination angle of the screw shaft for determining good or bad is stored in the upper control device 43 of the second construction robot 12. Based on this threshold value, the upper control device 43 of the second construction robot 12 determines the state of the screw. In this way, the upper control device 43 of the second construction robot 12 can determine the state of the screw.

As shown in FIG. 8, when the lower control device 25 of the second construction robot 12 receives the end of step S255 transmitted from the upper control device 43 of the second construction robot 12, the screw position within the screwing possible range. It is determined whether or not all of the screws have been struck (S206). This determination is made as follows. The screw striking range is a range in which the screw should be striking in the temporary striking operation, and refers to a range in which the screw striking is possible without interfering with the board support portion 31 of the first construction robot 11. The lower control device 25 of the second construction robot 12 can specify the screwing possible range based on the current position of the first construction robot 11 and the program stored in the memory of the lower control device 25. Further, the upper control device 43 of the second construction robot 12 counts the number of times the screw is driven, and by comparing this count number with a certain number of screws stored in the upper control device 43, the screw is screwed. It can be determined whether or not the screw has been hit at all the screw positions within the hittable range. When the lower control device 25 of the second construction robot 12 determines that the screws have been hit in all the screw positions within the screw hitting range (S206: Yes), it determines whether or not the temporary hitting work has been completed (S206: Yes). S207). When the lower control device 25 of the second construction robot 12 determines that the temporary striking work has not been completed (S207: No), the lower control device 25 of the second construction robot 12 transmits a movement command to the lower control device 25 of the first construction robot 11 (S208). The state of shifting from step S206 to step S205 is a state from FIG. 15 (B) to FIG. 16 (B) via FIG. 16 (A).

The movement command in step S207 is a command to move the first construction robot 11 so that the screwing possible range is changed. By changing the location where the first construction robot 11 is located, the screwing possible range is changed. The lower control device 25 of the second construction robot 12 updates the screwing possible range based on the changed current position of the first construction robot 11 and the above-mentioned program. With such a change, it becomes possible to hit the screw over the entire range where the screw should be hit in the temporary hitting work. Upon receiving the movement command, the lower control device 25 of the first construction robot 11 moves the first construction robot 11 by a certain distance within the range in which the support of the ceiling board 15 by the board support portion 31 is maintained.

As shown in FIG. 8, when the lower control device 25 of the second construction robot 12 determines that the temporary striking work is completed (S207: Yes), the lower control device 25 of the first construction robot 11 is subjected to the completed FLAG. A command is transmitted to the lower control device 25 of the first construction robot 11 so that the first construction robot 11 moves to the standby place (S209). The waiting place is set to a place away from the current construction place by a distance that does not interfere with the screwing work by the second construction robot 12. When step S209 is executed, the lower control device 25 of the second construction robot 12 determines whether or not the first construction robot 11 has moved away from the construction site to the standby location (S210). Here, a signal indicating that the first construction robot 11 has reached the standby place is transmitted from the lower control device 25 of the first construction robot 11 to the lower control device 25 of the second construction robot 12. The lower control device 25 of the second construction robot 12 can determine that the first construction robot 11 has reached the standby place based on the signal to that effect. When the lower control device 25 of the second construction robot 12 determines that the first construction robot 11 is not away from the construction site, the lower control device 25 executes step S209 again.

As shown in FIG. 8, when the control device 53 of the tablet 14 determines that the first construction robot 11 is away from the construction site (S210: Yes), the control device 53 starts the full-strike operation (S12). The control device 53 of the tablet 14 transmits the start of the full striking work to the lower control device 25 and the upper control device 43 of the second construction robot 12. Here, the full-strike operation refers to the work of striking a screw on the ceiling board 15 in order to completely fix the ceiling board 15.

As shown in FIG. 8, when the lower control device 25 of the second construction robot 12 determines that the first construction robot 11 is away from the construction site (S210: Yes), the lower control device 25 moves the second construction robot 12 to the striking location. (S211). The state in which the first construction robot 11 is away from the construction site is the state shown in FIG. 10 (B). The striking location refers to the entire position of the second construction robot 12 capable of striking with the screw striking portion 41 among the construction locations. Further, the state of step S211, that is, the state in which the second construction robot 12 has moved to the striking place is in the state shown in FIGS. 10 (B), 11 (A), 11 (B), and 12 (B). be.

As shown in FIG. 8, when the upper control device 43 of the second construction robot 12 moves the second construction robot 12 to the striking place in step S211, the first construction robot 11 and the second construction robot 12 in the full striking work. A command for synchronizing the movement of the robot 12 is transmitted to the lower control device 25 of the second construction robot 12 (S256).

Upon receiving the command in step S256, the upper control device 43 of the second construction robot 12 searches for a place to be screwed, controls the moving device 45 to move the screwing machine 44 to the hitting position, and makes the screwing machine. Have 44 hit a screw (S257). Since step S257 is the same process as step S255, detailed description thereof will be omitted.

As shown in FIG. 8, when the lower control device 25 of the second construction robot 12 receives the end of step S257 transmitted from the upper control device 43 of the second construction robot 12, all the screw positions in the striking place are received. It is determined whether or not the screw has been struck and the struck has been completed (S212). Here, the upper control device 43 of the second construction robot 12 compares the count number of the screw driving with the total number of the screws stored in the upper control device 43, so that the screw driving by the full driving operation is completed. It can be determined. The upper control device 43 of the second construction robot 12 transmits to the lower control device 25 that the screwing by the full-strike operation is completed. Therefore, the lower control device 25 of the second construction robot 12 can grasp that the screw driving by the full driving work is completed. When it is determined that the lower control device 25 of the second construction robot 12 has not finished hitting (S212: No), the lower control device 25 moves again in the hitting place (S211). When the lower control device 25 of the second construction robot 12 determines that the striking has been completed (S212: Yes), the lower control device 25 transmits the striking end FLAG to the control device 53 of the tablet 14 and shifts itself to the standby state (S213). That is, when step S213 is completed, step S201 is started.

When the control device 53 of the tablet 14 starts the full-strike operation, it determines whether or not the screw striking by the full-strike operation is completed (S13). Here, when the upper control device 43 of the second construction robot 12 completes the screwing by the lower control device 25, the upper control device 43 transmits to that effect to the control device 53 of the tablet 14. Therefore, the control device 53 of the tablet 14 can grasp that the screw striking by the full striking operation is completed. When the control device 53 of the tablet 14 determines that the screwing is not completed (S13: Yes), the control device 53 again executes step S12. When the control device 53 of the tablet 14 determines that the screwing is completed (S13: Yes), the control device 53 executes step S2.

As shown in FIG. 8, the lower control device 25 of the first construction robot 11 is in a state of waiting for a command when step S110 is completed (S111). Upon receiving the movement command in step S208, the lower control device 25 of the first construction robot 11 determines whether or not the temporary striking work has been completed (S112). When the lower control device 25 of the first construction robot 11 determines that the temporary striking work is completed (S112: Yes), the lower control device 25 shifts to the standby state (S114). That is, when step S114 is completed, step S101 is started. When the lower control device 25 of the first construction robot 11 determines that the temporary striking work has not been completed (S112: No), it is within the range in which the support of the ceiling board 15 by the board support portion 31 is maintained as described above. In, the first construction robot 11 is moved by a certain distance (S113). When the lower control device 25 of the first construction robot 11 finishes S113, the lower control device 25 executes step S111 again.

[Action and effect of this embodiment]
According to the construction support system 10 according to the present embodiment, the images of the ceiling are captured by the cameras 36 and 46, and the distance to the ceiling is detected by the distance sensors 37 and 47, so that the worker 17 grasps the state of the ceiling. can. Therefore, the worker 17 can process the ceiling board 15 according to the state of the ceiling. Since the ceiling board 15 is lifted and supported by the board support portion 31, the burden on the operator 17 is reduced. Since the screwing is performed by the screwing portion 41, the burden on the operator is reduced. Since the ceiling board construction support system 10 includes a first ceiling state detection unit 32, a second ceiling state detection unit 42, a board support unit 31, and a screwing unit 41, the ceiling board 15 can be constructed. Since the first ceiling state detection unit 32, the second ceiling state detection unit 42, the board support unit 31, and the screw driving unit 41 are dispersedly provided in the first construction robot 11 and the second construction robot 12, each of them is provided. The construction robot will be downsized. Since the control devices 25, 33, and 43 control the movement of the construction robots 11 and 12 based on the self-positions of the construction robots 11 and 12, the construction robots 11 and 12 can operate in cooperation with each other.

Further, since both the first construction robot 11 and the second construction robot 12 are provided with the ceiling state detection units 32 and 42, both the first construction robot 11 and the second construction robot 12 can detect the ceiling state.

Further, after the second construction robot 12 strikes a part of the screw position, the first construction robot 11 separates from the ceiling board 15. When the temporary fixing is completed, the first construction robot 11 that interferes with the screwing is retracted, so that the screwing work is efficiently executed.

Further, since the second ceiling state detection unit 42 includes the distance sensor 47 and the moving device 45, the upper control device 43 determines the state of the screw based on the detection result detected by the second ceiling state detection unit 42. Can be detected.

Further, since the first ceiling state detection unit 32 includes the camera 36 and the second ceiling state detection unit 42 includes the camera 46, information on the ceiling state can be obtained based on the image of the ceiling.

Further, since the upper control device 43 detects the screw position and moves the screw driving machine 44 to the position corresponding to the screw position, the screw driving operation is automatically executed. Therefore, the burden on the worker 17 is reduced.

Further, since the upper control device 33 controls the board support portion 31 to perform the alignment of the ceiling board 15, it is not necessary for the operator 17 to align the ceiling board 15 by himself / herself. Therefore, the burden on the worker 17 is reduced.

Further, when the construction location is input to the tablet 14, the construction of the ceiling board 15 at this construction location is automatically executed, so that the burden on the operator is reduced.

Further, since the image of the ceiling and the scale information thereof are displayed on the touch panel 51, information on the dimensions of the elements included in the ceiling portion 110 can be obtained.

When the emergency stop command is input from the tablet 14, the driving of the first construction robot 11 and the second construction robot 12 is stopped, so that the operator can prevent the defective construction work from being continued due to the occurrence of an abnormality.

[Modification example]
Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. With respect to each component of the construction support system 10 according to the present embodiment, the components may be omitted, replaced, or added as appropriate according to the embodiment. Further, the shape and size of each component of the construction support system 10 may be appropriately set according to the embodiment. For example, the following changes are possible.

In the present embodiment, the construction support system 10 includes two construction robots including the first construction robot 11 and the second construction robot 12. The construction support system may be equipped with three or more construction robots.

In the present embodiment, the construction support system 10 includes two ceiling state detection units 32 and 42, a board support unit 31, and a screwing unit 41 as four working units. The number of working parts may be equal to or greater than the number of construction robots.

The construction support system 10 may include a first construction robot provided with a board support portion 31 and a screw driving portion 41, and a second construction robot provided with a ceiling state detection unit. In this case, the first construction robot and the second construction robot are controlled as follows. (1) The first construction robot moves to the board installation position 16 and receives the ceiling board 15. The second construction robot moves to the next construction site and stands by. (2) When the first construction robot receives the ceiling board 15, it moves to the next construction site, lifts the ceiling board 15 toward the next construction site, and aligns the ceiling board 15. Here, the first construction robot aligns the ceiling board based on the ceiling data obtained by the second construction robot already waiting at the construction site. (4) When the alignment of the ceiling board is completed, the first construction robot performs screwing on the ceiling board. This screw striking is performed up to all striking. Here, the first construction robot identifies the screw position and performs screw striking based on the board position data obtained by the second construction robot. (5) When the ceiling board is completely hit by the first construction robot, the robot moves to the board installation position 16 again. The second construction robot moves to the next construction site when all the hits by the first construction robot are completed. That is, the step (1) is executed again. In this way, the construction of one ceiling board 15 is executed. By repeating the construction of one ceiling board 15, the ceiling board 15 is constructed on the entire ceiling portion 110.

In the present embodiment, the first construction robot 11 and the second construction robot 12 each include a rotating device 23. The means for rotating the working unit is not limited to the rotating device 23, and may be a self-propelled device 22 capable of rotating on its axis. That is, the first construction robot 11 and the second construction robot 12 may rotate the working portion by the self-propelled device 22 without providing the rotating device 23.

In the present embodiment, the distance information in the vertical direction is acquired by the distance sensors 37 and 47. The distance sensor 37 measures the distance from the distance sensor 37 to the ceiling portion 110, and the distance sensor 47 measures the distance from the distance sensor 47 to the ceiling portion 110. Here, since the height position of each part including the distance sensor 37 in the first construction robot 11 is fixed, another part, for example, from the support machine 34 to the ceiling part 110 based on the distance information obtained by the distance sensor 37. And the distance from the floor 101 to the ceiling portion 110 are also specified. Instead of the configuration in which the distance sensors 37 and 47 are mounted on the first construction robot 11 and the second construction robot 12, the distance information may be input from the tablet 14 by the operator 17 and stored in the control unit. This distance information may be, for example, the distance from the floor 101 to the ceiling portion 110 measured by the operator, from the camera to the ceiling portion 110 previously acquired by another construction robot equipped with a camera. It may be a distance. Therefore, if the distance information from the floor 101 to the ceiling portion 110 or the distance information corresponding to the distance information is stored in the control unit, the first construction robot 11 and the second construction robot 12, respectively, have the distance sensor 37. You do not have to have 47.

In the second construction robot 12 of the present embodiment, in order to move the screw driving machine 44 to the position corresponding to the detected screw position 65, the upper control device 43 transfers the image information of the ceiling portion 110 and the ceiling portion 110 to the ceiling portion 110. Based on the distance information, the horizontal separation distance from the camera 46 to the screw position 65 is specified, and the screw position 65 is specified and the camera 46 is repeatedly moved until the camera 46 reaches directly below the screw position 65. .. Instead of this configuration, the upper control device 43 moves the camera 46 while determining whether or not the camera 46 is directly below the screw position 65 based on the image information of the ceiling portion 110 without using the distance information. The camera 46 may be repeatedly brought to just below the screw position 65. In this case, an initial value is set as a movement amount for moving the camera 46 toward the screw position 65. The upper control device 43 can determine whether or not the camera 46 has approached the screw position 65 due to this movement, based on the determination of the position of the camera 46 this time and the determination of the position of the camera 46 last time. The upper control device 43 makes the next movement amount smaller than the current movement amount, for example, when the camera 46 is separated from the screw position 65 or when the camera 46 passes through the screw position 65 (when the direction is changed). Set. The upper control device 43 causes the camera 46 to reach directly below the screw position 65 while changing the movement amount in a feedback manner in this way. Alternatively, the upper control device 43 may specify a strict horizontal distance from the camera 46 to the screw position 65 by using the vertical distance information from the camera 46 to the ceiling portion 110. In this case, the upper control device 43 can bring the camera 46 to just below the screw position 65 without repeating the identification of the screw position 65 and the movement of the camera 46.

10 ... Ceiling board construction support system 11 ... 1st construction robot 12 ... 2nd construction robot 13 ... Marker (reference device)
14 ... Tablet (input / output device)
15 ... Ceiling board 21 ... Position detection device 22 ... Self-propelled device 23 ... Rotating device 24 ... Elevating device 25 ... Lower control device 31 ... Board support 32 ... 1st ceiling condition detection unit 33 ... upper control device 36, 46 ... camera 37, 47 ... distance sensor 41 ... screw driving unit 42 ... second ceiling condition detection unit 43 ... upper Control device 44 ... Screw driving machine 45 ... Moving device 51 ... Touch panel (input unit and display)
53 ... Control device 110 ... Ceiling part 111 ... Field edge

Claims (13)

It is a ceiling board construction support system equipped with a plurality of construction robots and a control unit for controlling the plurality of construction robots.
Each of the above-mentioned construction robots is provided with a self-propelled device capable of self-propelling on the floor in the construction area, a position detection device for detecting a coordinate position on the floor of the self-propelled device, and at least one of a plurality of working units. Ori,
The above multiple working departments
The ceiling condition detector that detects the ceiling condition and
The board support that supports the ceiling board and
Includes a screw striking part to strike a screw,
Each of the above working parts is provided in one of the above-mentioned plurality of construction robots.
The control unit is a ceiling board construction support system that acquires the coordinate positions of the construction robots from the position detection devices and controls the movement of the self-propelled device based on the coordinate positions. The plurality of construction robots are a first construction robot and a second construction robot.
The first construction robot includes the ceiling state detection unit and the board support unit.
The ceiling board construction support system according to claim 1, wherein the second construction robot includes the ceiling state detection unit and the screwing unit. The control unit screwes the ceiling board supported by the board support portion of the first construction robot with the screw striking portion of the second construction robot, and screwes a part of a plurality of screw positions. The ceiling board construction support system according to claim 2, wherein the first construction robot is moved away from the ceiling board after hitting. The ceiling board construction support system according to any one of claims 1 to 3, wherein each of the construction robots is provided with an elevating device for raising and lowering the work unit. The ceiling board construction support system according to any one of claims 1 to 4, wherein each of the construction robots is provided with a rotating device for rotating the working portion. The ceiling state detection unit includes a distance sensor and a moving device for moving the distance sensor.
The control unit detects the distance to the screw that has been screwed while moving the distance sensor so that the distance from the ceiling board is constant after the screwing portion is made to perform the screw. The ceiling board construction support system according to any one of claims 1 to 5, wherein the state of the screw is determined based on the detection result of the distance sensor. The ceiling board construction support system according to any one of claims 1 to 6, wherein the ceiling state detection unit includes an image pickup device for capturing an image of the ceiling. The above ceiling board is pre-marked with screw positions,
The above screwing part is
A screw driving machine that hits screws,
It is equipped with a moving device that moves the above-mentioned screw driving machine .
The control unit detects the screw position based on the image information acquired from the image pickup device, operates the moving device of the screw driving unit, and drives the screw at the position corresponding to the detected screw position. The ceiling board construction support system according to claim 7, wherein the machine is moved. The control unit was supported by the first end position of the first ceiling board already fixed to the field edge and the board support unit based on the image information acquired from the image pickup apparatus and the distance information to the ceiling. The invention according to claim 7 or 8, wherein the position of the second end of the second ceiling board is determined, the self-propelled device is operated, and the board support portion is moved based on the position of the first end and the position of the second end. Ceiling board construction support system. It is further equipped with a reference device that is installed in the above construction area and indicates the position reference.
The ceiling board construction support system according to any one of claims 7 to 9, wherein the position detection device detects the coordinate position based on the position reference acquired from the reference device. It is further equipped with an input / output device having an input unit and a display.
The control unit is one of claims 7 to 10 that controls the self-propelled device and the work unit of each construction robot so that the ceiling board is installed at the construction site input from the input unit. The described ceiling board construction support system. The ceiling board construction support according to claim 11, wherein the control unit displays an image of the ceiling and scale information of the image on the display based on the image information acquired from the image pickup apparatus and the distance information to the ceiling. system. The ceiling board construction support system according to claim 11 or 12, wherein the control unit stops driving the self-propelled device and the working unit of each construction robot based on an emergency stop command input from the input unit. ..

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