JP2019011666A - Wall surface board sticking method, wall surface board sticking device and computer program - Google Patents

Abstract

To reduce a workload in sticking a wall surface board in a construction area and to improve a work efficiency, a safety of a work and a construction accuracy.SOLUTION: A robot device 101 for supporting a robot hand 131 movably and recognizable of its present position is arranged in a construction space WS including a construction area A to be a wall surface W of a building and a stock area B in which a plurality of wall surface boards WB to stick to this construction area A are stacked. In the stock area B, the wall surface board WB of the uppermost position is gripped by a gripping tool 133 arranged in the robot hand 131 as a first wall surface board WB and carried to the construction area A and fixed. In this instance, an arrangement position of the wall surface board WB is fixed correctly based on an imaging picture of a camera arranged in the robot hand 131. After the first wall surface board WB is fixed, the wall surface boards WB after the first one is arranged and fixed one after another in the position having the existing wall surface board WB as a reference.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wall surface board affixing method for adhering a wall surface board to a place to be a wall surface of a building, a wall surface board affixing device, and a computer program for supporting a wall surface board affixing operation.

  In a relatively simple building such as a warehouse, a factory, a prefab house, etc., for example, a standard wall board is fixed to a board mounting frame provided in a place where the wall is to be formed, and the wall is configured. There is something that was made. Generally, the wall surface board is fixed to the board mounting frame manually by a craftsman or the like.

  On the other hand, Patent Document 1 discloses an interior construction apparatus for supporting interior work for attaching an interior material such as a ceiling board or a wall board, although it is different from a wall surface board as an exterior material. This apparatus loads a gypsum board, which is a ceiling board, at the position of the board stock, and performs work support while adsorbing and holding the gypsum board with a suction pad provided on an attachment attached to the robot arm.

More specifically, work support is performed by the following procedure.
(1) The position of the suction pad with respect to the gypsum board is manually adjusted, and when the suction position is determined, the gypsum board is sucked and held by the suction pad (refer to paragraphs [0026] and [0027] of FIG. 1, FIG. 7).
(2) Thereafter, the reversing arm of the robot arm is reversed so that the attachment faces upward, and the gypsum board is lightly brought into contact with the lightweight steel frame on the ceiling (see paragraph [0028] of FIG. 1, FIG. 9).
(3) Next, manually slide the gypsum board until it touches the end face of the existing gypsum board, then lift the attachment with the vertical arm of the robot arm, and firmly attach the gypsum board to the lightweight steel frame on the ceiling ( (See paragraph [0029] in FIG. 1 and FIG. 10).
(4) Then, the screwing machine main body mounted on the moving frame of the robot arm is manually operated to perform the first row screwing operation. When finished, the suction by the suction pad is released, the attachment is slid by hand, the second row of screwing work is performed, and the entire surface of the gypsum board is screwed by repeating this (paragraphs [0022] [0030] of Reference 1 ] [0031], see FIG. 4 and FIG.

  In addition, Patent Document 1 describes an apparatus and method for work support for not only a ceiling board but also a wall surface board (decorative board) (see paragraphs [0036] to [0038] of FIG. 1, FIG. 13). .

JP 05-32454 A

  If the interior construction apparatus described in Patent Document 1 is used, the work becomes easier as compared with the case where all the work is performed manually, and the effects of improving the safety of work and shortening the work time can be expected.

  However, since some of the operations (1), (3), and (4) must be performed manually, further reduction in the work load and improvement in work efficiency are required. In particular, in the above (3) and (4), work at a high place is forced, so improvement is also desired in terms of work safety.

  Moreover, the attachment raising operation in the above (2) and (3) can be read as automatic control without manual intervention, whereas how to perform attachment stop control at a predetermined position is disclosed in Patent Documents. 1 has no description at all. For this reason, there is a description of the operation of making the gypsum board lightly contact the lightweight steel frame on the ceiling (above (2)) or tightly adhering (above (3)) (see paragraphs [0028] and [0029] of document 1). ), But the possibility remains.

  The problem in particular is that the operation of making the gypsum board lightly contact with or firmly adhere to the lightweight steel frame on the ceiling affects the accuracy of the positioning accuracy of the gypsum board. Since the feasibility of these operations is unclear, it is unclear whether the gypsum board can be fixed in an accurate position.

  Another problem is the strength of the pressing force applied to the gypsum board when it is firmly attached to the lightweight steel frame. This is because if the pressing force is too weak, the gypsum board may be displaced, and if the pressing force is too strong, the gypsum board may be damaged.

  The subject of this invention is reducing the work burden at the time of sticking a wall surface board to a construction area | region, and improving work efficiency.

  Another subject of this invention is improving the safety | security of the operation | work at the time of sticking a wall surface board to a construction area | region.

  Yet another object of the present invention is to improve construction accuracy.

  The wall surface board pasting method of the present invention enables a robot hand to move freely in a construction space including a construction area to be a wall of a building and a stock area in which a plurality of wall boards to be pasted on the construction area are stacked. Supporting and recognizing the current position of the robot apparatus, and imaging the construction area to which the first wall surface board is pasted with a camera provided in the robot hand, and correctly arranging in the construction area Estimating and storing coordinate points of landmarks in the construction area corresponding to at least three feature points of the assumed wall surface board, moving the robot hand to the stock area, and A step of gripping a wall board with the gripping tool provided in the robot hand as the first wallboard board, and the one gripped by the gripping tool Imaging the wall board of the eye with the camera, recognizing the position of the feature point from the captured image, moving the robot hand holding the first wall board to the construction area, and storing the mark Aligning the position of the recognized feature point with the coordinate points of the first wall surface board in the construction area, and placing the first wall board placed in the construction area on the robot hand. The above-mentioned problem is solved by providing a step of fixing to the construction area with a provided fixture.

  The wall board pasting device of the present invention is installed in a construction space including a construction area to be a wall of a building and a stock area in which a plurality of wall boards to be stuck to the construction area are stacked, and moves a robot hand. A robot device that can freely support and recognize its current position, a camera provided on the robot hand, a gripping tool provided on the robot hand to grip the wall board, and provided on the robot hand A fixture that fixes the wall board to the construction area, and the construction area where the first wall board is attached is imaged with the camera, and at least the wall board that is assumed to be correctly placed in the construction area Means for estimating and storing the coordinate points of the landmarks in the construction area associated with the three feature points; Moving to the stock area, the uppermost wall board is gripped by the gripper as the first wallboard board, and the first wallboard board gripped by the gripper is imaged by the camera. , The means for recognizing the position of the feature point from the captured image, and the robot hand holding the first wall board is moved to the construction area, and the coordinate point of the mark to be stored is Means for aligning the position and arranging the first wall board in the construction area; and means for fixing the first wall board arranged in the construction area to the construction area with the fixture. The above-mentioned problems are solved by providing.

  The computer of the present invention is installed in a construction space including a construction area to be a wall surface of a building and a stock area in which a plurality of wall boards to be attached to the construction area are stacked, and supports a robot hand movably. Installed in a computer for controlling a robot apparatus capable of recognizing the current position, and the computer is used to image the construction area to which the first wall surface board is attached to the computer. A function for estimating and storing the coordinate points of landmarks in the construction area associated with at least three feature points of the wall board assumed to be correctly arranged in the construction area; and the robot hand in the stock area The uppermost wall board is provided in the robot hand as the first wall board. A function of gripping by the holding tool, a function of capturing the first wall surface board gripped by the gripping tool by the camera, and recognizing the position of the feature point from the captured image, and the first wall surface board Moving the robot hand to the construction area, aligning the position of the recognized feature point with the coordinate point of the mark to be stored, and placing the first wall board in the construction area; The above-mentioned problem is solved by executing a function of fixing the first wall surface board arranged in the construction area to the construction area with a fixture provided in the robot hand.

  According to the present invention, when a wall surface board is attached to the construction area, work that requires manual work is greatly reduced, so that the work load can be reduced and work efficiency can be improved. Moreover, since work at a high place is not required, work safety can be improved. Furthermore, since the work for positioning the wall surface board in the construction area is not performed manually, the construction accuracy can be improved.

The perspective view which shows the wall surface board sticking apparatus in use as one Embodiment. The schematic diagram which shows the movable aspect of a robot apparatus from a side surface direction. The schematic diagram which looked at the robot hand from the bottom face direction. The schematic diagram which looked at the robot hand from the side. The perspective view which shows the robot hand holding a wall surface board. The block diagram of the electrical connection in a control panel. The flowchart which shows the flow of a learning process. The flowchart which shows the flow of the sticking process of the 1st wall surface board. The flowchart which shows the flow of the sticking process of the wall surface board after the 2nd sheet. The schematic diagram which shows the state displacement of the robot apparatus which performs the sticking operation | movement of the 1st wall surface board. The schematic diagram which shows the state transition of the robot arm which performs the fixing operation of a wall surface board.

An embodiment will be described with reference to the drawings. The present embodiment is an application example to a wall surface board attaching method, a wall surface board attaching device, and a computer program for supporting a wall board attaching operation for attaching a wall board to a place to be a wall surface of a building. Hereinafter, explanation will be made along the following items.
1. General configuration 2. Robot device Control panel 4. Wall surface board pasting method and processing (1) Robot device installation process (2) Marking coordinate point acquisition process (3) First wall surface board gripping process (4) First wall surface board feature point recognition process (5) Arrangement process of first wall board (6) Fixing process of first wall board (7) Acquisition process of mark coordinate point (8) Grasping process of second wall board (9) Two sheets 4. Recognition process of feature points of eye wall board (10) Arrangement process of second wall board (11) Fixing process of second wall board Effect 6. Modified example

1. Schematic configuration As shown in FIG. 1, in the present embodiment, a scheme for discarding the building itself and sticking the wall surface board WB to the board mounting frame 1 installed in the place to be the wall surface W is shown. introduce.

  The board mounting frame 1 is a frame for mounting the wall surface board WB (see FIG. 10), and the wall surface board WB is pasted in three rows and three rows. Such a board mounting frame 1 constitutes a construction area A to be a wall surface W of a building.

  In the vicinity of the construction area A, two work pallets 2 are provided. In these work pallets 2, a plurality of wall surface boards WB to be attached to the board mounting frame 1 are stacked and stored. The two work pallets 2 are arranged in front of the construction area A and constitute the stock area B.

  A space including the construction area A and the stock area B is a construction space WS.

  The core of the wall board pasting device 11 is the robot device 101 installed in the construction space WS. The robot apparatus 101 is based on a carriage 111 installed so as to straddle a pair of work pallets 2 placed in two, and a robot arm 121 mounted on a lifter 112 provided on the carriage 111. The robot hand 131 is a main component. Therefore, the robot apparatus 101 grips the wall surface board WB stored in the work pallet 2 with the robot hand 131 and sticks it to the board mounting frame 1 one after another.

  Another important component of the wall board pasting device 11 is a control panel 201. The control panel 201 controls the operation of the robot apparatus 101. In the present embodiment, the control panel 201 is disposed at a position facing the board mounting frame 1 with the robot apparatus 101 interposed therebetween, and is provided for the operation of the operator H.

  In FIG. 1, a large box-shaped object located near the worker H is a compressor C. The compressor C serves as a drive source such as the lifter 112 and the robot arm 121.

  The wall surface board sticking apparatus 11 of this Embodiment makes the work of the worker H in the construction area A unnecessary. Therefore, for safety, an enclosure 5 that supports the bar 4 with a plurality of pylons 3 is provided in order to prohibit entry of the construction space WS in which the construction area A and the stock area B are arranged. The enclosure 5 divides the space on the worker H side from the construction space WS.

2. Robot Device The robot device 101 will be described.

  As shown in FIGS. 1 and 2, the carriage 111 is a strong frame structure having a quadruped structure, and is portable by wheels 113. In addition to the wheels 113, the carriage 111 is also provided with a plurality of support legs 114, and after being installed at a desired location, the wheels 113 are raised so that the support legs 114 can be stably installed.

  The carriage 111 is provided with a lifter 112 that can be raised and lowered at the center thereof, and the robot arm 121 is fixed to the lifter 112. Therefore, the height of the robot arm 121 can be changed according to the lifting / lowering operation of the lifter 112. The lifter 112 has a slide moving structure, and is lifted and lowered by an air cylinder AC (not shown) to which air compressed by the compressor C is sent. Therefore, the compressor C serves as a drive source PS for the lifter 112 (see FIG. 6).

  The robot arm 121 that varies in height according to the lifting / lowering operation of the lifter 112 has two links 123a and 123b between the three joints 122a, 122b, and 122c. The first joint 122a is connected to the lifter 112 so as to be rotatable around a vertical axis, and one link 123a is connected so as to be rotatable around a horizontal axis. The second joint 122b is interposed between the two links 123a and 123b, and couples the links 123a and 123b so as to be rotatable about a horizontal axis. The third joint 122c connects the other link 123b rotatably around the horizontal axis, and connects the robot hand 131 rotatably around the horizontal axis and an axis perpendicular thereto.

  As shown in FIG. 2, the robot arm 121 includes a lifter 112 and a first joint 122a, a first joint 122a and one link 123a, a second joint 122b and two links 123a and 123b, and three Various movable modes are realized by adjusting the rotation angles of the first joint 122c, the other link 123b, and the robot hand 131. As an example, the robot arm 121 positions the robot hand 131 at three positions in order to paste the wall surface boards WB in three rows in the vertical direction.

  At this time, by adjusting the rotation angle of the first joint 122a with respect to the lifter 112 and the two-axis rotation angle of the third joint 122c with respect to the robot hand 131, the wall surface board WB should be pasted on the board mounting frame 1. The robot hand 131 can be positioned at a total of nine places in three rows and three rows.

  Also, as shown in the middle diagram of FIG. 10, the robot hand 131 can be turned downward by adjusting the angle around the horizontal axis between the third joint 122c and the robot hand 131. . This posture is a posture when picking up the wall surface board WB from the work pallet 2.

  The angle adjustment of each part in the robot arm 121 is executed by an actuator (not shown) incorporated in each joint 122a, 122b, 122c. Therefore, the actuator is a drive source PS (see FIG. 6) of the robot arm 121.

  As shown in FIGS. 3 to 5, the robot hand 131 has various structures mounted on a rectangular frame 132. The mounted structures are a gripper 133 that sucks and grips the wall surface board WB, a camera 134, a screw driving machine 135 as a fixture, and a pressure sensor 136 (see FIG. 6).

  The gripper 133 sucks and grips the wall surface board WB by cup-shaped suction pads 137 provided at the four corners of the frame 132 and the six central portions in the longitudinal direction. In order to cause the suction pad 137 to perform a suction action, the gripper 133 has a vacuum generator 138 mounted on the frame 132. The vacuum generator 138 is connected to each suction pad 137 via the air hose 139 and sucks air. As a result, the vacuum generator 138 generates a negative pressure inside the suction pad 137 having the opening portion applied to the wall surface board WB, and applies a suction force to the wall surface board WB. The suction pad 137 has a certain degree of flexibility, and when the wall surface board WB is sucked, the interval between the wall surface board WB and the frame 132 is changed.

  The camera 134 is attached to the distal end portion of the arm 140 extending so as to jump out of the frame 132, and images the space in the direction in which the opening portion of the suction pad 137 faces.

  The screw driving machine 135 drives a screw (not shown) for fixing the wall surface board WB to the board mounting frame 1. A pair of screw driving machines 135 are provided, and extend from the two corners on one end side of the frame 132 in the direction of expanding each other.

  The robot hand 131 is positioned at a portion between the pair of screw driving machines 135 and a cushion pad 141 is attached to the frame 132. The cushion pad 141 is a metal linear member that extends in the direction in which the opening portion of the suction pad 137 faces, and the tip portion is formed flexibly. When the suction pad 137 of the gripper 133 sucks and holds the wall surface board WB, the wall surface board WB is pressed against the cushion pad 141 as the suction pad 137 elastically deforms.

  The pressure sensor 136 is attached to the frame 132 so as to be positioned at the base portion of the cushion pad 141. When the wall surface board WB sucked by the suction pad 137 is pressed against the cushion pad 141, the pressure sensor 136 changes the output according to the pressing force.

3. Control Panel The control panel 201 will be described.

  As shown in FIG. 6, a control panel 201 (see FIG. 1) that controls the operation of the robot apparatus 101 is constituted by an information processing apparatus 211 that is a microcomputer. The core of the information processing apparatus 211 is an information processing unit 232 including a CPU 231 that executes various arithmetic processes and centrally controls each unit. The information processing unit 232 includes an EEPROM 233 and a RAM 234 connected to the CPU 231 and a clock circuit 235. The EEPROM 233 is a memory that stores various data in a fixed manner, and stores, for example, BIOS. The RAM 234 is a memory that temporarily stores various data in a rewritable manner, and is also used as a work area. The clock circuit 235 incorporates a crystal oscillator (not shown) and generates a clock signal for timing control.

  An I / O 236 is connected to the information processing unit 232. An HDD 237, a display device 238, and an input device 239 are connected to the I / O 236. The I / O 236 is mounted on the robot hand 131 and various parts of the drive system 241 that drives each unit to control the posture of the robot device 101. The parts of the work system 251 to be executed are connected.

  The HDD 237 stores an operating system, a computer program for attaching a wall board, and related data. The operating system stored in the HDD 237 is entirely or partially transferred to the RAM 234 and copied when the information processing apparatus 211 is activated. The wallboard board pasting computer program and related data stored in the HDD 237 are started up by the startup program, and then all or part of the computer program is transferred to the RAM 234 and copied. Therefore, the CPU 231 executes various processing operations defined in the computer program copied to the RAM 234 according to the operating system stationed in the RAM 234.

  The display device 238 is, for example, a liquid crystal display serving as a man-machine interface, and displays various data stored in the HDD 237.

  The input device 239 is a pointing device such as a keyboard and a mouse serving as a man-machine interface, and enables various information to be input.

  The control panel 201 exposes the display device 238 and the input device 239 to the outside (not shown in FIG. 1), and supports the provision of information to the worker H and the input of information.

  The drive system 241 includes a compressor C serving as the drive source PS for the lifter 112 and a drive source PS composed of a plurality of actuators serving as the drive source for the robot arm 121. In order to control the operation of these drive sources PS, the drive system 241 is provided with a sensing device SD. That is, the drive system 241 controls the operation of the robot apparatus 101 by driving the drive source PS while sensing with the sensing apparatus SD under the control of the information processing unit 232.

  However, the sensing device SD is not limited to a structure that detects physical quantities in the real world, but may be one that senses the operation of the drive source PS by calculation.

  The work system 251 includes each part mounted on the robot hand 131, that is, a vacuum generator 138 that generates a suction force on the suction pad 137, a camera 134, a screw driving machine 135, and a pressure sensor 136. The vacuum generator 138, the camera 134, and the screw driving machine 135 are controlled in operation by the information processing unit 232, and the pressure sensor 136 provides pressure data applied to the cushion pad 141 to the information processing unit 232.

  Needless to say, all the units connected to the information processing unit 232 via the I / O 236 are digitally connected. For example, a driving signal which is a digital signal is given to the vacuum generator 138 and the screw driving machine 135, and thereby the driving signal is interpreted inside these devices 138 and 135. The pressure sensor 136 and the sensing device SD output the change amount as an analog value, which is converted into a digital signal and input to the I / O 236.

4). Wall Board Pasting Method and Process The wall board pasting method of the present embodiment is executed in cooperation with the processing by the information processing apparatus 211 provided in the control panel 201. The information processing apparatus 211 causes the information processing unit 232 to execute the wall surface board pasting process according to the computer program for pasting the wall surface board stored in the HDD 237. Hereinafter, the wall board pasting method and processing will be described step by step.
(1) Robot Device Installation Step The wall board pasting method starts by installing the robot device 101 in the construction space WS. As an example, the robot apparatus 101 is a place as shown in FIG. 1, that is, a position in front of the board mounting frame 1 serving as the construction area A and in the vicinity of the work pallet 2 serving as the stock area B. Since two work pallets 2 are provided in this embodiment, the robot apparatus 101 is installed between the two work pallets 2.

  Subsequently, as shown in FIG. 7, a learning process is executed. When the robot apparatus 101 is installed in the construction space WS, the information processing apparatus 211 of the control panel 201 that controls the operation of the robot apparatus 101 does not recognize the positions of the construction area A and the stock area B. Therefore, it is necessary for the information processing apparatus 211 to learn the approximate positions of the construction area A and the stock area B.

  In order to execute the learning process, first, the robot hand 131 is moved to the construction area A by an instruction from the input device 239 (step S11). This process is executed by a numeric input by the input device 239 or a GUI input linked with a display by the display device 238.

  In step S11, in the board mounting frame 1, the robot hand 131 is positioned at the lowest position on the left side where the first wall surface board WB is to be pasted, and the suction pad 137 is faced to the place where the wall surface board WB is pasted. .

  When the robot arm 121 is moved and the robot hand 131 is moved, the wall surface board pasting device 11 traces the coordinates of the robot hand 131 by the sensing operation of the sensing device SD. That is, the coordinates of the robot hand 131 that changes from moment to moment are sensed by the sensing device SD and stored in a memory such as the RAM 234 or the EEPROM 233.

  Therefore, the CPU 231 of the information processing unit 232 stores the coordinates of the robot hand 131 positioned at the position where the first wall surface board WB is to be pasted in the memory (step S12). The coordinate point data stored in this way is designated as M1.

  The CPU 231 may execute the processes of steps S11 and S12 not only on the position where one wall surface board WB is adhered, but also on all the wall surface boards WB after the second sheet as necessary. If the size of the wall surface board WB is known in advance, the pasting position of the second and subsequent wall surface boards WB can be calculated by learning only the pasting position of the first wall surface board WB. is there. On the other hand, when such preparation is not performed, or when the size of the wall surface board WB is first known in the field, the processing of all the wall surface boards WB is repeated by repeating the processes of steps S11 and S12. The coordinates of the robot hand 131 when facing the pasting position can be stored in the memory.

  Subsequently, the CPU 231 supports the process of positioning the robot hand 131 in the stock area B and causing the suction pad 137 to face the wall surface board WB stored in the work pallet 2 (step S13). That is, the robot hand 131 is moved to the stock area B according to an instruction from the input device 239, and the posture of the robot hand 131 is controlled so that the suction pad 137 faces directly below.

  The CPU 231 recognizes the coordinates of the robot hand 131 at this time, and stores this in the memory (step S14). The coordinate point data stored in this way is represented by M2.

  With the above processing, the processing for causing the information processing apparatus 211 to learn the approximate positions of the construction area A and the stock area B is completed.

(2) Mark coordinate point acquisition process In this process, it is assumed that the construction area A where the first wall board WB is pasted is imaged by the camera 134 provided in the robot hand 131 and is correctly arranged in the construction area A. The coordinate points of the mark M in the construction area A associated with the three feature points F of the wall surface board WB are estimated and stored.

  In the present embodiment, the three feature points F are three of the four corners of the wall board WB (see the lower diagram in FIG. 10). This feature point F is common to the second and subsequent wall surface boards WB.

  As shown in FIG. 8, in order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to move the robot hand 131 to the construction area A (step S101). The construction area A at this time is the lowest position on the left side in the board mounting frame 1 where the first wall board WB is to be attached. The CPU 231 can move the robot hand 131 to the construction area A by using the coordinate point data M1 (see step S12 in FIG. 7) stored in the memory area (the same applies hereinafter).

  As a result, the robot apparatus 101 assumes a posture as shown in the upper diagram of FIG.

  Therefore, the CPU 231 images the construction area A with the camera 134 (step S102) and performs pattern matching (step S103). The pattern matching means matching for the mark M in the construction area A that is associated with the three feature points F of the wall surface board WB that is assumed to be correctly arranged in the construction area A. The information processing apparatus 211 stores the data of the peripheral image of the mark M as sample data in the HDD 237, for example, and copies the sample data to a memory area such as the RAM 234 or the EEPROM 233. Therefore, pattern matching is performed on an area in the captured image that matches the sample data recorded in the memory area.

  For the mark M used for pattern matching, for example, the characteristic shape of the construction area A can be used as the mark M. Alternatively, when the construction area A does not have such a characteristic shape, a mark (not shown) previously attached to the construction area A can be used as the mark M.

  When the CPU 231 recognizes the mark M by the pattern matching in step S103, the CPU 231 estimates the coordinates (step S104). Since the information processing apparatus 211 traces the position of the robot hand 131 and recognizes the coordinate point, the coordinate point of the mark M can be estimated from the coordinate point of the current position of the robot hand 131.

  The CPU 231 stores the estimated coordinate point of the mark M in the memory (step S105). The coordinate point data stored in this way is designated as M11.

(3) Grasping step of first wall surface board In this step, the robot hand 131 is moved to the stock area B, and the gripping tool provided on the robot hand 131 with the uppermost wall surface board WB as the first wall surface board WB. Hold at 133.

  As shown in FIG. 8, in order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to move the robot hand 131 above the stock area B (step S106). The CPU 231 can move the robot hand 131 to the stock area B by using the coordinate point data M2 (see step S14 in FIG. 7) stored in the memory area (the same applies hereinafter).

  In the stock area B, the wall surface board WB is stored in the work pallet 2. Therefore, the CPU 231 images the wall surface board WB with the camera 134 (step S107), and grips the uppermost wall surface board WB with the gripper 133 (step S108). That is, the vacuum generator 138 is operated and the wall surface board WB is sucked by the suction pad 137. At this time, the CPU 231 determines the position of the uppermost wall board WB from the feature points F included in the captured image, obtains the center position of the wall board WB, and holds the center position.

  As a result, the robot apparatus 101 assumes a posture as shown in the middle diagram of FIG.

(4) Step of recognizing feature point of first wall surface board In this step, the first wall surface board WB gripped by the gripper 133 is imaged by the camera 134, and the position of the feature point F is recognized from the captured image. To do.

  In order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to pick up and hold the gripped uppermost wall board WB so as to capture an image with the camera 134 again (step S109). Then, the position of the feature point F is recognized from the imaging data, and the position data is stored in the memory (step S110). The position data stored in this way is set as M12.

  At this time, the robot apparatus 101 assumes a posture as shown in the lower diagram of FIG.

(5) Arrangement process of first wall board In this process, the robot hand 131 that holds the first wall board WB is moved to the construction area A, and the feature point F is recognized as the coordinate point of the mark M to be stored. The first wall surface board WB is arranged in the construction area A.

  In order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to move the robot hand 131 holding the wall surface board WB to the construction area A (step S111).

  Then, when the wall surface board WB to be gripped is arranged in the construction area A, the CPU 231 is arranged to coordinate the mark M stored in the memory so that the feature point F can be aligned with the position of the mark M in the construction area A. The calculation for space movement is performed to match the data M11 (see step S105) with the position data M12 of the feature point F (see step S110) (step S112).

  Subsequently, the CPU 231 arranges the wall surface board WB at a position in the construction area A obtained from the calculation result in step S112 (step S113). While maintaining this position, the robot hand 131 applies a pressing force to the wall surface board WB (step S114). At this time, the pressure applied to the wall surface board WB is monitored by the output value of the pressure sensor 136. Therefore, the CPU 231 determines whether or not the pressure applied to the wall surface board WB has reached a predetermined specified value (step S115). If it is determined that the pressure has reached the specified value (YES in step S115), the wall surface board WB. Is stopped (step S116). As a result, the wall surface board WB is correctly arranged on the board mounting frame 1 without being displaced.

(6) First Wall Surface Board Fixing Step In this step, the first wall surface board WB arranged in the construction area A is moved to the construction area A by a screw driving machine 135 as a fixture provided in the robot hand 131. Fix it.

  In order to execute this process, the CPU 231 of the information processing unit 232 drives the screw driving machine 135 (step S117). As a result, the wall surface board WB is screwed to the board mounting frame 1.

  As shown in FIG. 11, when the wall surface board WB is screwed to the board mounting frame 1, it is temporarily fixed first. Temporary fastening is performed in a state where the wall surface board WB is pressed against the construction area A of the board mounting frame 1 by the robot hand 131 (see steps S113 to S116). After temporary fixing, the CPU 231 moves the robot hand 131 and causes the screw driving machine 135 to screw the outer row OL. The CPU 231 further moves the robot hand 131 and causes the screw driving machine 135 to screw the inner row IL.

(7) Marking coordinate point acquisition process In this process, it is assumed that the construction area A to which the second wall surface board WB is attached is imaged by the camera 134 provided in the robot hand 131 and is correctly arranged in the construction area A. The coordinate points of the mark M in the construction area A associated with the three feature points F of the wall surface board WB are estimated and stored in the memory.

  In order to execute this process, the CPU 231 of the information processing unit 232 executes the same processing as steps S101 to S105 in FIG. 8 and is assumed when the CPU 231 is disposed at an adjacent position of the wall board WB that has already been fixed. The position of the mark M is acquired as coordinate data M11.

(8) Grasping process of second wall surface board In this process, the robot hand 131 is moved to the stock area B, and the uppermost wall surface board WB is gripped by the gripper 133 as the second and subsequent wall surface boards WB.

  As shown in FIG. 9, in order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to move the robot hand 131 above the stock area B (step S201).

  In the stock area B, the wall surface board WB is stored in the work pallet 2. Therefore, the CPU 231 images the wall surface board WB with the camera 134 (step S202), and grips the uppermost wall surface board WB with the gripper 133 (step S203). That is, the vacuum generator 138 is operated and the wall surface board WB is sucked by the suction pad 137. At this time, the CPU 231 refers to the captured image, estimates the position of the uppermost wall board WB which is the second and subsequent sheets, based on the position determined for the first wall board WB, and determines the center of the wall board WB. The position is obtained and the center position is grasped.

  As a result, the robot apparatus 101 assumes a posture as shown in the middle diagram of FIG.

(9) Step of Recognizing Feature Points of Second Wall Board In this step, the second and subsequent wall boards WB gripped by the gripper 133 are imaged by the camera 134, and the position of the feature point F from the captured image. Recognize

  In order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to pick up and hold the gripped uppermost wall surface board WB, and images it again with the camera 134 (step S204). Then, the position of the feature point F is recognized from the imaging data, and the position data is stored in the memory (step S205). The position data stored in this way is set as M13.

  At this time, the robot apparatus 101 assumes a posture as shown in the lower diagram of FIG.

(10) Arrangement process of second wall surface board In this process, the robot hand 131 that holds the second and subsequent wall surface boards WB is moved to the construction area A, and is positioned adjacent to the already fixed wall surface board WB. The position of the recognized feature point F is aligned with the coordinate point of the mark M assumed when it is placed, and the second and subsequent wall surface boards WB are placed in the construction area A.

  In order to execute this process, the CPU 231 of the information processing unit 232 controls the drive system 241 to move the robot hand 131 holding the wall surface board WB to the construction area A (step S206).

  When placing the wall surface board WB to be gripped in the construction area A, the feature point of the wall surface board WB being gripped at the position of the mark M that is assumed when the wall surface board WB is disposed adjacent to the already fixed wall surface board WB. The position of F can be adjusted. For this purpose, the CPU 231 executes a calculation for spatial movement to match the coordinate point data M11 of the mark M stored in the memory with the position data M13 of the feature point F (see step S205) (step S207).

  Subsequently, the CPU 231 arranges the wall surface board WB at a position in the construction area A obtained from the calculation result in step S207 (step S208). At this time, the second wall surface board WB held by the robot hand 131 is moved toward the first wall surface board WB in order to eliminate the deviation from the first wall surface board WB already constructed. You may make it slide. While maintaining this position, the robot hand 131 applies a pressing force to the wall surface board WB (step S209). At this time, the pressure applied to the wall surface board WB is monitored by the output value of the pressure sensor 136. Therefore, the CPU 231 determines whether or not the pressure applied to the wall surface board WB has reached a predetermined value (step S210). If it is determined that the pressure has reached the predetermined value (YES in step S210), the wall surface board WB. Is stopped (step S211). As a result, the wall surface board WB is correctly arranged on the board mounting frame 1 without being displaced.

(11) Second Wall Surface Board Fixing Step In this step, the second and subsequent wall surface boards WB arranged in the construction area A are fixed to the construction area A with the screw driving machine 135.

  In order to execute this process, the CPU 231 of the information processing unit 232 drives the screw driving machine 135 (step S212). As a result, the wall surface board WB is screwed to the board mounting frame 1.

  As shown in FIG. 11, when the wall surface board WB is screwed to the board mounting frame 1, it is temporarily fixed first. Temporary fixing is performed in a state where the wall surface board WB is pressed against the construction area A of the board mounting frame 1 by the robot hand 131 (see steps S208 to S211). After temporary fixing, the CPU 231 moves the robot hand 131 and causes the screw driving machine 135 to screw the outer row OL. The CPU 231 further moves the robot hand 131 and causes the screw driving machine 135 to screw the inner row IL.

  In order to affix the third and subsequent wall surface boards WB to the construction area A of the board mounting frame 1, the processes in steps S201 to S212 may be repeated. At this time, in order to move to the upper construction area A of the construction area A that has already been constructed, as an example, the construction area A may be constructed again from the left construction area A, or the construction area that was constructed last. You may make it construct from the construction area | region A immediately above A. FIG.

5). Effect According to the present embodiment, when attaching the wall surface board WB to the construction area A, work that requires manual work is greatly reduced, so that the work load can be reduced and work efficiency can be improved.

  Moreover, since work at a high place is not required, work safety can be improved.

  Further, since the work for positioning the wall surface board WB in the construction area A is not performed manually, construction accuracy can be improved.

  According to the present embodiment, since at least three corners of the wall surface board WB are handled as the feature points F, the shape of the feature points F is clear and it is possible to prevent erroneous recognition. It is possible to eliminate the trouble of providing characteristic feature points.

  Further, when the shape of the board mounting frame 1 provided in the construction area A is recognized as the mark M, it is possible to eliminate the trouble of providing an intentional mark separately.

  In addition, when the mark attached to the construction area A is recognized as the mark M, the mark M is clear and it is possible to prevent erroneous recognition.

  According to the present embodiment, the wall surface board WB stacked in the stock area B is imaged by the camera 134, the position of the uppermost wall surface board WB is determined from the feature point F included in the captured image, and the gripper 133 is obtained. The wall surface board WB can be accurately gripped at a desired position.

  In addition, since the position of the uppermost wall board WB that is the second and subsequent sheets is estimated and held by the holding tool 133 with reference to the position determined for the first wall board WB, the processing speed is increased. Can be planned.

  According to the present embodiment, the pressure of the wall surface board WB against the construction area A is detected by the pressure sensor 136 provided in the robot hand 131, and the wall surface board WB is placed in the construction area A so as to have a predetermined detection pressure. The wall surface board WB can be reliably arranged without misalignment.

6). Modifications Various modifications and changes are allowed in implementation.

DESCRIPTION OF SYMBOLS 1 Board mounting frame 101 Robot apparatus 131 Robot hand 133 Grasping tool 134 Camera 135 Screwing machine (fixing tool)
136 Pressure sensor A Construction area B Stock area F Feature point M Marking W Wall surface WB Wall board WS Construction space

Claims (12)

The robot hand can be movably supported and its current position can be recognized in the construction space including the construction area to be the wall of the building and the stock area where multiple wall boards to be attached to this construction area are stacked. The process of installing a simple robotic device,
The construction area where the first wall board is pasted is imaged with a camera provided in the robot hand, and is associated with at least three feature points of the wall board that are assumed to be correctly placed in the construction area. Estimating and storing a coordinate point of a mark in the construction area;
Moving the robot hand to the stock area and gripping the uppermost wall board with the gripping tool provided on the robot hand as the first wall board;
Capturing the first wall board gripped by the gripper with the camera, and recognizing the position of the feature point from the captured image;
The robot hand that grips the first wall board is moved to the construction area, and the position of the recognized feature point is aligned with the coordinate point of the mark to be stored, and the first wall board is moved to the construction area. A process of arranging in
Fixing the first wall board placed in the construction area to the construction area with a fixture provided in the robot hand;
A method for attaching a wall board, comprising: Moving the robot hand to the stock area and gripping the uppermost wall surface board with the gripping tool as the second and subsequent wall surface boards;
Capturing the second and subsequent wall boards gripped by the gripper with the camera, and recognizing the position of the feature point from the captured image;
The robot hand that grips the second and subsequent wall boards is moved to the construction area, and the recognition is made at the coordinate point of the mark that is assumed when the robot hand is placed at a position adjacent to the already fixed wall board. Arranging the second and subsequent wall surface boards in the construction area by matching the positions of the feature points;
Fixing the second and subsequent wall boards placed in the construction area to the construction area with the fixture;
The wall surface board pasting method of Claim 1 characterized by the above-mentioned. Treat at least three corners of the wall board as the feature points,
The wall surface board pasting method according to claim 1 or 2 characterized by things. Recognizing the shape of the board mounting frame provided in the construction area as the mark,
The wall surface board sticking method as described in any one of Claims 1 thru | or 3 characterized by the above-mentioned. Recognizing the mark attached to the construction area as the mark,
The wall surface board sticking method as described in any one of Claims 1 thru | or 3 characterized by the above-mentioned. The wall surface board stacked in the stock area is imaged with the camera, the position of the uppermost wall surface board is determined from the feature points included in the captured image, and is gripped with the gripping tool.
The wall surface board pasting method according to any one of claims 1 to 5 characterized by things. Based on the position determined for the first wall board, the position of the uppermost wall board that is the second and subsequent ones is estimated and gripped by the gripping tool.
The wall surface board pasting method according to claim 6 characterized by things. The pressing pressure of the wall board against the construction area is detected by a pressure sensor provided on the robot hand, and the wall board is pressed against the construction area so as to be a predetermined detection pressure.
The wall surface board pasting method according to any one of claims 1 to 7 characterized by things. It is installed in a construction space that includes a construction area to be the wall of the building and a stock area where a plurality of wall boards to be attached to this construction area are stacked. A recognizable robotic device;
A camera provided in the robot hand;
A gripping tool provided on the robot hand for gripping the wall surface board;
A fixture provided on the robot hand to fix the wall board to the construction area;
The construction area to which the first wall board is pasted is imaged with the camera, and the construction area in the construction area is associated with at least three feature points of the wall board assumed to be correctly arranged in the construction area. Means for estimating and storing the coordinate points of the landmarks;
Means for moving the robot hand to the stock area and gripping the uppermost wall board as the first wall board with the gripping tool;
Means for capturing the first wall board held by the gripper with the camera and recognizing the position of the feature point from the captured image;
The robot hand that grips the first wall board is moved to the construction area, and the position of the recognized feature point is aligned with the coordinate point of the mark to be stored, and the first wall board is moved to the construction area. Means to arrange
Means for fixing the first wall surface board arranged in the construction area to the construction area with the fixture;
A wall board pasting device comprising: Means for moving the robot hand to the stock area and gripping the uppermost wall surface board with the gripper as the second and subsequent wall surface boards;
Means for recognizing the position of the feature point from the picked-up image by taking an image of the second and subsequent wall boards held by the grasping tool with the camera;
The robot hand that grips the second and subsequent wall boards is moved to the construction area, and the recognition is made at the coordinate point of the mark that is assumed when the robot hand is placed at a position adjacent to the already fixed wall board. Means for aligning the position of the feature points and arranging the second and subsequent wall boards in the construction area;
Means for fixing the second and subsequent wall boards arranged in the construction area to the construction area with the fixture;
The wall surface board sticking apparatus according to claim 9, comprising: It is installed in a construction space that includes a construction area to be the wall of the building and a stock area where a plurality of wall boards to be attached to this construction area are stacked. Installed on a computer to control a recognizable robotic device, on this computer,
The construction area where the first wall board is pasted is imaged with a camera provided in the robot hand, and is associated with at least three feature points of the wall board that are assumed to be correctly placed in the construction area. A function for estimating and storing the coordinate point of the mark in the construction area;
A function of moving the robot hand to the stock area and gripping the uppermost wall surface board as a first wall surface board with a gripping tool provided in the robot hand;
A function of capturing the first wall board held by the gripper with the camera and recognizing the position of the feature point from the captured image;
The robot hand that grips the first wall board is moved to the construction area, and the position of the recognized feature point is aligned with the coordinate point of the mark to be stored, and the first wall board is moved to the construction area. With the ability to place in
A function of fixing the first wall surface board arranged in the construction area to the construction area with a fixture provided in the robot hand;
A computer program that executes In the computer,
A function of moving the robot hand to the stock area and gripping the uppermost wall surface board with the gripping tool as the second and subsequent wall surface boards;
A function of recognizing the position of the feature point from the captured image by capturing the second and subsequent wall boards held by the gripper with the camera;
The robot hand that grips the second and subsequent wall boards is moved to the construction area, and the recognition is made at the coordinate point of the mark that is assumed when the robot hand is placed at a position adjacent to the already fixed wall board. The function of arranging the second and subsequent wall surface boards in the construction area by matching the positions of the feature points;
The function of fixing the second and subsequent wall surface boards arranged in the construction area to the construction area with the fixture,
The computer program according to claim 11, further executing:

Images