JP6083520B2 - Robot guidance method and apparatus - Google Patents

Description

  The present invention relates to a robot guidance method and apparatus for guiding a work robot to a target point.

  In order to perform a predetermined work at a predetermined work point by the work robot in a severe environment such as a high-temperature and high-humidity environment, a dust environment, or a radiation environment, it is necessary to guide the work robot accurately and safely to the work point.

  As a means for guiding the robot to a predetermined point, SLAM (Simultaneous Localization And Mapping) by an autonomous mobile robot is known. In SLAM, an environment map around a moving path of a robot is created by measuring surrounding environment information while the robot identifies its own position in an unknown environment without prior knowledge.

  However, in the case of a mobile robot having such a SLAM function, not only a moving mechanism, a working device, and a communication device, but also an ambient environment measuring device for acquiring information on an obstacle or measuring its own position (for example, Laser range finder) is required. In particular, when high positioning accuracy is required, the surrounding environment measuring device becomes large, resulting in a problem that the mobile robot becomes large and heavy.

  In order to solve this problem, for example, Patent Documents 1 to 3 and Non-Patent Document 1 have been proposed.

The mobile robot system of Patent Document 1 includes a mobile robot including a moving unit and a fixed sensor that is installed in an area where the mobile robot moves and detects information on the area. The mobile robot and the fixed sensor mutually communicate information. Is provided with communication means for transmitting and receiving.
In this system, a fixed sensor installed in the work area in advance measures information on an obstacle and transmits the information to the robot, and the robot moves to a work point while avoiding the obstacle based on the information.

  In Patent Document 2, a work robot that performs work and another measurement robot that performs measurement enter the work area, and the position of the obstacle that cannot be measured by the work robot alone is measured by the measurement robot. Is a system that transmits to the work robot. The work robot takes a safe route based on the received obstacle position information and moves to the work point. As a result, there is no need to install a fixed sensor in the work area, and there is an advantage that the operating time of the device for measuring the position of the obstacle is sufficient.

  In Patent Document 3, route display means (for example, reflective tape) is installed in advance on the travel route of a mobile robot, the route display means is detected by the mobile robot, and the travel direction is corrected.

Non-Patent Document 1 discloses the above-described SLAM using an autonomous mobile robot, a high-accuracy position identification method using a group robot, and a coordinated positioning system (CPS).
The coordinated positioning system divides a plurality of mobile robots into two groups A and B. When the robot of group A is moving, group B is stationary, and the relative position from group B after the movement of group A is completed. A and B repeatedly perform a precise measurement operation with a laser or the like, thereby realizing highly accurate position identification as a whole mobile robot even in an unknown rough terrain environment.

JP 2003-300196 A JP 2001-088074 A JP-A-3-198108

Ryo Kurazume, et al., “Research of CPS SLAM-High-precision three-dimensional geometric laser measurement system for large-scale buildings”, Journal of the Robotics Society of Japan VOL. 25 NO. 8, PP. 1234-1242, 2007

In the systems of Patent Documents 1 and 3, it is necessary to previously install a fixed sensor (or route display means) in the work area.
Further, since the fixed sensor (or the route display means) is exposed to a harsh environment (such as a high-temperature and high-humidity environment, a dust environment, a radiation environment) for a long time, there is a high risk of breakage, failure, deterioration, and the like.
In addition, if the fixed sensor (or route display means) is not installed in advance or is damaged, workers must enter the work area to install them, and work in a harsh environment. Is indispensable, and there is a problem that it takes time and burden.

Since the system of Patent Document 2 uses two robots in tandem, the system becomes complicated. In addition, when one of the two robots breaks down, it does not function alone, so there is a problem that it takes time to recover.
Since the system of Non-Patent Document 1 operates the robots of two groups A and B in a coordinated manner as in Patent Document 2, the system becomes complicated. In addition, when either group fails, it does not function alone, so there is a problem that it takes time to recover.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to (1) be able to accurately and safely guide the work robot to the work point in the work area, and (2) to provide obstacle information acquisition means and self-position identification means for the work robot. This makes it possible to reduce the size and weight of the work robot. (3) It is not necessary to previously install a fixed sensor or the like in the work area, and can be applied to an unknown environment without prior knowledge. ) To provide a robot guidance method and apparatus which does not complicate the system and can be easily recovered at the time of failure.

According to the present invention, the measurement robot and the work robot that can move on the road surface in the work area, and the remote control device that can remotely control the measurement robot and the work robot from the outside of the work area,
(A) The obstacle in the work area is three-dimensionally measured by the measuring robot, and the measured three-dimensional data is transmitted to the remote control device.
(B) Using the remote control device, an environment map including obstacles in the work area and a movement route from the entry point of the work robot to the work point are created from the three-dimensional data. Send data to the measuring robot,
(C) The measuring robot moves along the movement route to the work point of the work robot based on the environmental map, and marks marks in order on the road surface along the movement route,
(D) A robot guidance method is provided in which the work robot moves to the work point by following the marks in order.

  According to the embodiment of the present invention, in (A), the measurement robot moves autonomously within the work area, and stops and adjusts the interval so that the measurement ranges overlap each other, and performs three-dimensional measurement. .

  In (B), the advancing direction of the work robot when passing through the narrow passage is determined by the remote control device based on the dimension data of the work robot.

  In (C), the interval is set so that a plurality of marks are captured in the image of the alignment camera of the work robot.

  In (D), an image including two or more marks is simultaneously picked up by the alignment camera of the work robot, the closest mark among them is positioned at the center of the image, and the next closest mark is positioned in the traveling direction. In this way, the traveling direction of the work robot is controlled.

  In addition, it is preferable that the work robot aligns the work device at the work point and then performs a predetermined work.

Further, according to the present invention, the measurement robot and the work robot that can move on the road surface in the work area, and a remote control device that can remotely control the measurement robot and the work robot from the outside of the work area,
The measuring robot has a three-dimensional measuring device that three-dimensionally measures an obstacle in a work area, a marking device that marks a mark on a road surface, and a first communication device that can communicate with a remote control device in both directions. And
The work robot has a work device that performs a predetermined work in the work area, an alignment camera that detects a mark on the road surface, and a second communication device capable of bidirectional communication with the remote control device. ,
The remote control device includes a third communication device capable of bidirectional communication with the measurement robot and the work robot, an environment map including obstacles in the work area, and an entry point of the work robot from the three-dimensional data obtained by the three-dimensional measurement. A data processing unit that creates a travel route to the point,
(A) The obstacle in the work area is three-dimensionally measured by the measuring robot, and the measured three-dimensional data is transmitted to the remote control device.
(B) Using the remote control device, an environment map including obstacles in the work area and a movement route from the entry point of the work robot to the work point are created from the three-dimensional data. Send data to the measuring robot,
(C) The measuring robot moves along the movement route to the work point of the work robot based on the environmental map, and marks marks in order on the road surface along the movement route,
(D) A robot guidance device is provided in which the work robot moves to the work point by following the marks in order.

  According to the method and apparatus of the present invention described above, the work robot sequentially moves to the work point by following the marks marked on the road surface in the work area. (1) The work robot is moved to the work point in the work area. (2) The work robot does not need to be provided with an obstacle information acquisition means or a self-position identification means, and the work robot can be reduced in size and weight.

  In addition, since the remote control device creates an environment map including obstacles in the work area and a movement route from the entry point of the work robot to the work point, the measurement robot has an environment map creation means and a movement route creation means. This is unnecessary, and this makes it possible to reduce the size and weight of the measuring robot.

  In addition, the measurement robot performs three-dimensional measurement of obstacles in the work area, transmits the measured three-dimensional data to the remote control device, and the measurement robot moves the work robot along the movement path based on the environment map. Since the mark is sequentially marked on the road surface along the movement route after moving to the work point, (3) it is not necessary to previously install a fixed sensor or the like in the work area, and it is applied to an unknown environment without prior knowledge. be able to.

  In addition, after marking marks on the road surface in order along the movement path by the measurement robot, the work robot moves to the work point by following the marks in order, so that the measurement robot and the work robot can be operated in order. Therefore, tandem operation and cooperative operation are unnecessary, and the system can be simplified.

Further, when either one of the measurement robot and the work robot fails, it is possible to easily recover in a short time by repairing only the failed robot or using a spare robot.

1 is an overall configuration diagram of a robot guidance device according to the present invention. It is a whole block diagram of a measurement robot. It is a whole block diagram of a working robot. It is a whole block diagram of a remote control device. It is explanatory drawing of the movement path | route preparation by a remote control apparatus. It is a whole flowchart of the robot guidance method by this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is an overall configuration diagram of a robot guidance device according to the present invention.
As shown in this figure, the robot guidance device of the present invention includes a measurement robot 10, a work robot 20, and a remote control device 30.
The measurement robot 10 and the work robot 20 are mobile robots that can move along the road surface 2 on the road surface 2 in the work area 1. The remote control device 30 is a control device that can remotely control the measurement robot 10 and the work robot 20 from the outside of the work area 1 wirelessly.

In the work area 1, there are an obstacle 3 and a work object 9. The obstacle 3 is a three-dimensional object such as a building or rubble that hinders the movement of the measurement robot 10 and the work robot 20. The work object 9 is, for example, rubble, a collapsed building, a burning house, or the like.
The work area 1 may be an unknown environment without prior knowledge as long as the measurement robot 10 and the work robot 20 can move along the road surface 2.
The road surface 2 is an area excluding the obstacle 3 and the work object 9 in the work area 1. The road surface 2 may be undulated as long as the measurement robot 10 and the work robot 20 can move along the upper surface thereof.

FIG. 2 is an overall configuration diagram of the measurement robot 10.
As shown in this figure, a measuring robot 10 includes a three-dimensional measuring device 12 that three-dimensionally measures an obstacle 3 (see FIG. 1) in a work area 1, and a marking device 14 that marks a mark 4 on a road surface 2. The first communication device 16 capable of wirelessly communicating with the remote control device 30 in both directions.
The three-dimensional measuring instrument 12 is, for example, a laser range finder (LRF) or a three-dimensional laser radar. The marking device 14 is, for example, a paint injector, and is configured to mark a single color or a multicolor mark 4 on the road surface 2.

In this figure, the measurement robot 10 further includes a movement mechanism 17, a movement support camera 18, and a measurement robot control device 19.
The moving mechanism 17 is a crawler device in this example, but may be another moving mechanism (for example, a wheel and a steering device).
The movement support camera 18 is an omnidirectional visual sensor capable of simultaneously capturing 360-degree images around the measurement robot 10, and the captured images are transmitted to the remote control device 30 by the first communication device 16.
The measurement robot control device 19 is a control device that controls the measurement robot 10. The measurement robot control device 19 includes a GPS compass, a gyro sensor, a wheel encoder, and the like, identifies the position of the measurement robot 10, and transmits it to the remote control device 30.

  With the configuration described above, the measuring robot 10 has a function of acquiring surrounding environment information (for example, position information of the obstacle 3), and marks 4 on the road surface 2 in order along the movement path 7 planned by the remote control device 30. It has a marking function for marking and a marking function for marking the mark 4 at the work point 8 (see FIG. 1).

FIG. 3 is an overall configuration diagram of the work robot 20.
As shown in this figure, the work robot 20 is bidirectionally connected to a work device 22 that performs a predetermined work in the work area 1, a positioning camera 24 that detects a mark 4 on the road surface 2, and a remote control device 30. And a second communication device 26 capable of wireless communication.
The work device 22 is, for example, an articulated robot arm, and performs a predetermined work with a hand attached to the hand. The predetermined work is, for example, removal of rubble, cutting of a steel frame, discharge of cooling water or fire water, and the like.
The alignment camera 24 is installed in the vicinity of the work device 22 and images the mark 4.

In this figure, the work robot 20 further includes a movement mechanism 27, a movement support camera 28, and a work robot control device 29.
The moving mechanism 27 is a crawler device in this example, but may be another moving mechanism (for example, a wheel and a steering device).
The movement support camera 28 is an omnidirectional visual sensor capable of simultaneously capturing 360-degree images around the work robot 20, and the captured images are transmitted to the remote control device 30 by the second communication device 26.
The work robot control device 29 is a control device that controls the work robot 20. The work robot control device 29 determines and controls the movement direction of the work robot 20 from the positions of the two or more marks 4 included in the captured image of the alignment camera 24, and positions the work device 22 at the work point 8. Do.

  With the configuration described above, the work robot 20 captures the mark 4 marked by the measurement robot 10 with the alignment camera 24 and moves along the mark 4 to move to the work point 8 along the planned movement path 7. Can move. Further, the work robot 20 can position the work device 22 in accordance with the mark 4 marked by the measurement robot 10 at the work point 8.

FIG. 4 is an overall configuration diagram of the remote control device 30.
As shown in this figure, the remote control device 30 includes a third communication device 32 capable of wirelessly communicating with the measurement robot 10 and the work robot 20 in two directions, and three-dimensional data 5 (FIG. 6) to the environment map 6 including the obstacle 3 in the work area 1 and the data processing unit 34 for creating the movement route 7 from the entry point of the work robot 20 to the work point 8.

In FIG. 4, the data processing unit 34 creates a data storage unit 35 that stores data such as the three-dimensional data 5 and the size of the work robot 20, and a movement path 7 from the entry point of the work robot 20 to the work point 8. A route creation unit 36 and a remote operation interface 37 that can be operated by an operator are provided.
The remote operation interface 37 is a keyboard or a touch panel, for example.

  The data processing unit 34 performs processing for creating the environment map 6 by analyzing the three-dimensional data 5 acquired by the measurement robot 10 and processing for creating the movement path 7 of the work robot 20. In addition, operation commands are sent to the measurement robot 10 and the work robot 20. This operation command may be used in combination with a confirmation operation by the operator's remote operation interface 37.

FIG. 5 is an explanatory diagram for creating a movement route by the remote control device 30. In this figure, (A) and (B) are conventional examples, and (C) is an example of the present invention.
The data processing unit 34 (see FIG. 4) moves in consideration of, for example, the center of the passage and the traveling direction in which the work robot 20 can safely pass when there is a narrow passage for the dimensions of the work robot 20 or the like. A route 7 is created, and the position of the mark 4 that matches the moving route 7 is planned. The measuring robot 10 has a marking function for actually attaching the mark 4.

Marking of the mark 4 in a narrow area for the work robot 20 is performed as shown in FIG.
That is, as shown in FIG. 5A, when there is a narrow path on the path for the work robot 20, the progress of the work robot 20 can be achieved only by drawing the mark 4 at the center of the narrow place as shown in FIG. There is a possibility of interference with the obstacle 3 depending on the direction (vehicle body direction). On the other hand, as shown in FIG. 5C, if a point sequence of the mark 4 is defined so that the traveling direction (vehicle body direction) of the work robot 20 is determined in one way, the work robot 20 only has to follow the mark 4 to obstruct it. Interference with the object 3 can be avoided.

FIG. 6 is an overall flowchart of the robot guidance method according to the present invention.
In this figure, the robot guidance method according to the present invention comprises steps (steps) S1 to S13, and includes “measurement of work area 1 by measurement robot 10”, “environment map 6 and marking”, and “work robot 20 Execute "operation" in order.

(Surveying work area 1 by measuring robot 10)
(1) The measurement robot 10 enters the work area 1 (S1).
(2) The measuring robot 10 moves in the work area 1. This movement is autonomously performed by the measurement robot controller 19. Note that this movement may be assisted or corrected by remote control while viewing the image of the movement support camera 18.
(3) The measuring robot 10 is stopped at an appropriate interval during the movement, and the obstacle 3 in the work area 1 is three-dimensionally measured using the three-dimensional measuring instrument 12 (S2), and the measured three-dimensional data is measured. 5 is transmitted to the remote control device 30. At this time, the interval is adjusted so that adjacent measurement ranges overlap each other.

(Environmental map 6, moving route 7 and marking)
(4) The remote control device 30 receives the three-dimensional data 5 from the measuring robot 10 each time (S3).
(5) The remote control device 30 collects a plurality of three-dimensional data 5 and creates an environment map 6 including the obstacle 3 in the work area 1 (S4).
(6) Further, the remote control device 30 creates a movement path 7 along which the work robot 20 moves from the entry point to the work point 8 (S5). At this time, the vehicle body direction (the traveling direction of the work robot 20) when passing through the narrow passage is also determined based on the dimension data of the work robot 20 stored in advance.
(7) The remote control device 30 transmits the created environment map 6 and data of the movement route 7 to the measurement robot 10.

(8) Next, the measurement robot 10 receives the data of the environment map 6 and the movement route 7 (S6), and the measurement robot 10 moves to the work point 8 of the work robot 20 along the movement route 7 based on the environment map 6. Then, the marks 4 are sequentially marked on the road surface 2 along the movement route 7 (S7). Mark 4 is a sequence of points with appropriate spacing. This interval is set so that a plurality of marks 4 are captured in the image of the alignment camera 24 of the work robot 20.
Further, the mark 4 at the work point 8 is marked by, for example, placing two marks 4 having different sizes close to each other.
(9) The measurement robot 10 leaves the work area 1 (S8).

(Operation of work robot 20)
(10) Next, the work robot 20 enters the work area 1 (S9).
(11) The work robot 20 follows the mark 4 in order and moves autonomously to the work point 8 (S10). In this movement, an image including two or more marks 4 is simultaneously picked up by the alignment camera 24 of the work robot 20, the closest mark 4 is positioned at the image center of the picked-up image, and the next closest mark 4 is displayed. It is preferable to control the traveling direction of the work robot 20 so as to be positioned in the traveling direction.
At this time, the movement of the work robot 20 may be assisted or corrected by remote operation while viewing the image of the alignment camera 24.
(12) After moving to the vicinity of the work point 8, the alignment camera 24 captures the mark 4 on the road surface 2.
(13) The work device 22 is aligned at the work point 8 so that the reference position of the work device 22 matches the position of the mark 4 at the work point 8 (S11). For example, when the mark 4 at the work point 8 is two adjacent marks 4 having different sizes, one mark 4 is positioned at the center of the image of the alignment camera 24 and the other mark 4 is on the image in front of it. Set to be located at. At this time, the position adjustment may be performed by remote operation while viewing the image of the alignment camera 24.
(14) After completion of positioning, predetermined work is started (S12).
(15) After completion of the work, the work robot 20 leaves the work area 1 (S13).

  In the embodiment described above, the marking of the mark 4 is assumed to mark the road surface 2 with paint. However, the present invention is not limited to this example. Other means, for example, attachment of a colored object (such as a sphere), installation of a mark that can be easily detected by image measurement, or the measurement robot 10 is environmentally resistant. It is also possible to place a high-transmitter in place of the mark 4 so that the work robot 20 aligns with a radio wave transmission source.

  In addition, a function may be added in which the distance between the marks 4 is wide in a path having a sufficient width of the moving path 7 and conversely in a narrow path, the distance between the marks 4 is narrowed.

  The work robot 20 is preferably an autonomous robot that automatically detects and moves the mark 4 and aligns it with the work point 8. However, a part of the work robot 20 is operated by remote operation while viewing the image of the movement support camera 28. May be.

According to the method and apparatus of the present invention described above, the following effects can be obtained.
(1) The work robot 20 may need to have a relatively large work device 22 depending on the work content, and thus the robot itself may be increased in size. Since it is limited, the working robot 20 can be made relatively small and can turn easily, and can be operated relatively easily even in a narrow place.
(2) The work robot 20 does not need a visual support function for the operator, or may have a function of presenting only visual support information for moving along the mark 4, such as a complicated position identification system. Since it is not necessary, the system is simplified, and the work robot 20 can be downsized depending on the configuration.
(3) Since the measurement robot 10 and the work robot 20 do not need to enter the work area 1 except when they have their respective roles, the measurement robot 10 and the work robot 20 are not unnecessarily exposed to a harsh environment.
(4) The work robot 20 does not need to be equipped with a high-performance measuring device.
(5) The work robot 20 does not need to be particularly aware of the obstacle 3 and can only focus on following the mark 4 on the road surface 2. For this reason, work efficiency and time can be reduced.

  According to the above-described method and apparatus of the present invention, the work robot 20 sequentially moves to the work point 8 by following the marks 4 marked on the road surface 2 in the work area 1. The work robot 20 can be guided accurately and safely to the work point 8 in the work area 1. (2) The work robot 20 does not need to be provided with an obstacle information acquisition means or a self-position identification means. Smaller and lighter.

  Further, since the remote control device 30 creates the environment map 6 including the obstacle 3 in the work area 1 and the movement route 7 from the entry point of the work robot 20 to the work point 8, the environment map is created on the measurement robot 10. There is no need to provide a means or a movement path creation means, and the measurement robot 10 can be reduced in size and weight.

  In addition, the obstacle 3 in the work area 1 is three-dimensionally measured by the measuring robot 10, the measured three-dimensional data 5 is transmitted to the remote control device 30, and the moving path 7 is based on the environment map 6 by the measuring robot 10. And the mark 4 is sequentially marked on the road surface 2 along the movement path 7. (3) It is necessary to previously install a fixed sensor or the like in the work area 1. And can be applied to unknown environments without prior knowledge.

  Moreover, after marking the mark 4 on the road surface 2 in order along the movement path 7 by the measuring robot 10, the work robot 20 moves to the work point 8 by following the mark 4 in order, so that the measurement robot 10 and the work robot 20 can be operated in order. Therefore, tandem operation and cooperative operation are unnecessary, and the system can be simplified.

  Further, when either one of the measurement robot 10 or the work robot 20 breaks down, it can be easily recovered in a short time by repairing only the broken robot or using a spare robot.

  In addition, this invention is not limited to embodiment mentioned above, is shown by description of a claim, and also includes all the changes within the meaning and range equivalent to description of a claim.

1 work area, 2 road surface, 3 obstacles, 4 marks,
5 3D data, 6 Environmental map,
7 travel routes, 8 work points,
10 measuring robot, 12 3D measuring instrument, 14 marking device,
16 1st communication apparatus, 17 moving mechanism,
18 movement support camera, 19 measuring robot controller,
20 working robots, 22 working devices, 24 alignment cameras,
26 second communication device, 27 moving mechanism,
28 movement support cameras, 29 work robot control devices,
30 remote control device, 32 third communication device,
34 data processing unit, 35 data storage unit,
36 Route creation unit, 37 Remote operation interface

Claims (7)

A measurement robot and a work robot capable of moving on the road surface in the work area, and a remote control device capable of remotely controlling the measurement robot and the work robot from the outside of the work area,
(A) The obstacle in the work area is three-dimensionally measured by the measuring robot, and the measured three-dimensional data is transmitted to the remote control device.
(B) Using the remote control device, an environment map including obstacles in the work area and a movement route from the entry point of the work robot to the work point are created from the three-dimensional data. Send data to the measuring robot,
(C) The measuring robot moves along the movement route to the work point of the work robot based on the environmental map, and marks marks in order on the road surface along the movement route,
(D) The robot guiding method, wherein the work robot moves to the work point by following the marks in order.   2. In (A), the measurement robot moves autonomously within the work area, adjusts the interval so that the measurement ranges overlap each other, stops, and performs three-dimensional measurement. The robot guidance method described in 1.   2. The robot guidance according to claim 1, wherein in (B), the traveling direction of the work robot when passing through the narrow passage is determined by the remote control device based on the dimension data of the work robot. Method.   2. The robot guidance method according to claim 1, wherein in (C), the interval is set so that a plurality of marks are captured in an image of an alignment camera of the work robot.   In (D), an image including two or more marks is simultaneously picked up by the alignment camera of the work robot, the closest mark among them is positioned at the center of the image, and the next closest mark is positioned in the traveling direction. The robot guiding method according to claim 1, wherein the traveling direction of the work robot is controlled.   The robot guiding method according to claim 1, wherein the work robot performs alignment of the work device at the work point and then performs a predetermined work. A measurement robot and a work robot capable of moving on the road surface in the work area, and a remote control device capable of remotely controlling the measurement robot and the work robot from the outside of the work area,
The measuring robot has a three-dimensional measuring device that three-dimensionally measures an obstacle in a work area, a marking device that marks a mark on a road surface, and a first communication device that can communicate with a remote control device in both directions. And
The work robot has a work device that performs a predetermined work in the work area, an alignment camera that detects a mark on the road surface, and a second communication device capable of bidirectional communication with the remote control device. ,
The remote control device includes a third communication device capable of bidirectional communication with the measurement robot and the work robot, an environment map including obstacles in the work area, and an entry point of the work robot from the three-dimensional data obtained by the three-dimensional measurement. A data processing unit that creates a travel route to the point,
(A) The obstacle in the work area is three-dimensionally measured by the measuring robot, and the measured three-dimensional data is transmitted to the remote control device.
(B) Using the remote control device, an environment map including obstacles in the work area and a movement route from the entry point of the work robot to the work point are created from the three-dimensional data. Send data to the measuring robot,
(C) The measuring robot moves along the movement route to the work point of the work robot based on the environmental map, and marks marks in order on the road surface along the movement route,
(D) The robot guidance device characterized in that the work robot moves to the work point by following the marks in order.

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