KR102468848B1 - Direction retaining multipurpose autonomous working robot system for construction - Google Patents

Abstract

The present invention relates to an autonomous multipurpose work robot system for defense-maintaining construction. According to the present invention, an autonomous transport robot having a first moving platform on which a plurality of floor finishing materials are spaced apart from each other through guide pieces arranged at regular intervals therein; and a second mobile platform connected to the first mobile platform via a pair of parallel binding links to tow the autonomous transport robot from the front, and a second mobile platform installed on one side of the second mobile platform and installed on each side of the loading box. It includes an autonomous working robot equipped with a gripper module that individually approaches the floor finishing materials of each floor, then withdraws the floor finishing materials one by one and lowers them onto a floor flat material installed in advance at the site, wherein the autonomous working robot includes the gripper module. After inserting the arm part into the lower side of the floor finishing material of the corresponding floor in the storage box, the arm part is retracted again in a state where the floor finishing material is placed on the arm part to withdraw the floor finishing material.
According to the present invention, when the self-driving work robot is coupled to the self-driving transport robot and automatically performs building finishing work, the moving direction can be kept constant, the height can be changed, and the work can be stably performed.

Description

Direction retaining multipurpose autonomous working robot system for construction}

The present invention relates to a self-driving multi-purpose work robot system for construction of an orientation-maintaining type, and more particularly, in a form coupled to an autonomous transport robot, when the self-driving work robot automatically performs building finishing work, the moving orientation is kept constant. The present invention relates to an autonomous driving multi-purpose work robot system for defense-maintaining construction capable of moving and changing height.

In general, construction robots are used to replace manpower, and can assist with repetitive construction or risk of accidents at construction sites and reduce the possibility of worker injury.

However, existing construction robots are developed to be limited to specific buildings or specific tasks, and thus have a problem in that they are difficult to utilize for various purposes.

In addition, a finishing material installation system for installing finishing materials such as drywall, cladding, and plywood has been disclosed. However, in the case of the technology, it is difficult to install floor finishing materials such as tiles, and one robot is in charge of transporting, installing, and working the finishing materials, which reduces work efficiency.

In addition, these conventional finishing material installation devices have limitations in application to actual sites because they do not have a sensor module related to floor construction.

The background technology of the present invention is disclosed in Korean Patent Registration No. 10-0804669 (published on February 20, 2008).

The present invention is a self-driving multi-purpose work robot system for construction with an orientation-maintaining type capable of maintaining a constant moving direction and changing the height when the self-driving work robot automatically performs building finishing work in a form coupled to an autonomous transport robot. It aims to provide

The present invention relates to an autonomous transport robot having a first moving platform on which a load box in which a plurality of floor finishing materials are spaced apart from each other through guide pieces arranged at equal intervals therein is placed on top, and a pair of bonds parallel to each other. A second mobile platform that is connected to the first mobile platform via a link and tows the autonomous transport robot from the front, and is installed on one side of the second mobile platform and individually accesses the floor finishes of each floor in the loading box. An autonomous working robot equipped with a gripper module that takes out floor finishing materials one by one and lowers them onto a floor flat material installed in advance at a site, wherein the autonomous working robot includes an arm of the gripper module corresponding to the corresponding position in the stacking box Provided is an autonomous multipurpose work robot system for self-driving construction for which, after inserting into the lower side of the floor finishing material of a floor, retracting the arm part in a state where the floor finishing material is placed on the arm part and withdrawing the floor finishing material is provided.

In addition, the gripper module includes a vertical supporter installed in front of the second mobile platform, a horizontal plate that is movable to a target height position by being movable up and down based on the vertical supporter, and a robot on which the floor finishing material is placed. Corresponding to both arms, it may include a pair of arm parts capable of sliding in the front and rear directions in a stacked and coupled state on the horizontal plate to be inserted into the lower side of the floor finishing material or to be returned to an initial position.

In addition, a plurality of embossing projections of a flexible material are formed on the upper surface of the pair of arm parts, and a plurality of grooves into which some of the plurality of embossing projections are inserted when the floor finishing material is placed on the arm part are inserted into the lower surface can be formed

In addition, the gripper module has one end fixed to the top of the second movable platform and the other end movably coupled in the forward and backward directions to bring the vertical supporter closer to the first movable platform or return it to an initial position. It further includes a support, and if the weight of the floor finishing material is less than the reference value, the horizontal support is placed in an initial position and only the pair of arm parts are moved to withdraw the floor finishing material. The floor finishing material may be taken out by moving only the horizontal support.

In addition, each of the self-driving transport robot and the self-driving work robot supports self-driving by sensing surrounding environment information including images, and has a sensor module for self-driving that recognizes the installation state and location of floor finishing materials installed in the field, respectively. mounted, and each sensor module for autonomous driving can cooperate with each other to assist autonomous driving.

In addition, the self-driving multipurpose work robot system for bearing-maintaining construction is installed on the side of the first mobile platform and senses the boundary line of the floor finishing material installed on the floor flat material and the marker located on the upper corner of the floor finishing material, thereby autonomously A driving control sensor that assists straightness of driving and fall safety and cooperates with the autonomous driving sensor module may be further included.

In addition, the self-driving multi-purpose robot system for self-driving construction for self-driving construction is installed on the rear side of the second mobile platform to monitor the installation operation of the floor finishing material through the gripper module, inspect the installation state, It may further include a sensor for collaborative floor finish inspection.

In addition, a plurality of floor flat materials are installed parallel to and spaced apart from each other at the site, and the floor finishing material is installed between two adjacent floor flat materials, but a set number of basic floor covering materials are pre-installed on the two adjacent floor flat materials In this state, after the self-driving transport robot and the self-driving work robot are initially disposed on top of the basic floor covering material, additional floor covering materials may be sequentially installed while moving forward.

In addition, after the self-driving work robot is pre-placed on the upper surface of a set number of basic floor coverings in a state of being bound to the autonomous transportation robot, the end of the autonomous transportation robot reaches the end of the last N-th basic floor covering material. After moving forward to prepare for the floor finishing material installation work, and following the forward movement, after departing from the Nth basic floor covering material, it is possible to work while traveling along the upper surfaces of the two flat floor materials.

In addition, when the self-driving work robot reaches the end of the last N-th basic floor finishing material, the arm part is inserted into the lower part of the floor finishing material of the corresponding floor in the loading box, and then the arm part is lifted and the floor finishing material is placed on top. 2 After retracting the movable platform, the arm part on which the floor covering material is placed is lowered so that the floor covering material can be installed on the two neighboring flat floor materials.

In addition, after installing the floor covering material, the autonomous working robot moves forward as much as one unit length of the floor covering material while maintaining the lowered state of the arm unit so that the end of the autonomous transport robot reaches the end of the installed floor covering material. Then, in a state in which the arm part is moved to a height corresponding to the floor covering material in the next order, the floor covering material in the next order may be withdrawn and subsequently installed on the floor flat material.

In addition, the second moving platform has a driving shaft rotatably coupled to the front surface of the body, and a moving guide unit that rolls in close contact with the distal end in a state inserted between the two floor flat materials, and between the body and the driving shaft. Connected to and may include a cylinder shaft portion for adjusting the rotation angle of the drive shaft by adjusting the length of the cylinder.

In addition, the second moving platform rotates the drive shaft at a set angle through the cylinder shaft portion before the drive wheels installed at both lower ends of the body move out of the Nth basic finishing material, thereby moving the distal end portion of the moving guide unit to the floor. When the driving wheel is moved by rolling on a flat material and the driving wheel is moved in a floating state on the floor flat material, and the driving wheel is completely out of the Nth basic finishing material, the angle of the driving shaft is changed to move the body by the height of the floor finishing material By lowering, the driving wheel can be landed on a flat floor material.

In addition, the self-driving multi-purpose work robot system for self-driving construction for the orientation holding type is installed at the lower end of the binding link and the lower rear part of the second mobile platform, respectively, and the external force is applied to the corresponding side surface of the floor finishing material seated on the floor flat material. It may further include a floor finishing material adhering means for closely aligning the previously installed adjacent floor finishing materials at regular intervals by applying a.

In addition, the second movable platform may further include a spacer material installation module for installing a material for spacer having a cross-shaped frame into which an edge of the floor finishing material is fitted on the flat floor material.

In addition, the self-driving transport robot identifies a plurality of light source markers that are dispersedly installed at the work site and radiates beams of different patterns by using the installed autonomous driving sensor module, and measures the distance to each light source marker. and wirelessly transmits a distance value with each light source marker along with a light source identification code to a positioning device, and then shares the real-time received position value with the self-driving work robot, and the real-time positioning device measures the location of each light source marker and the autonomous Based on the distance values between the traveling transport robot and each light source marker, a position value of the autonomous transport robot may be calculated and transmitted in real time.

According to the present invention, when the self-driving work robot is coupled to the self-driving transport robot and automatically performs building finishing work, the moving direction can be kept constant, the height can be changed, and the work can be stably performed.

1 is a diagram showing the configuration of a self-driving multipurpose work robot system for bearing-maintaining construction according to an embodiment of the present invention.
FIG. 2 is a diagram showing a state before combining two robots in FIG. 1 .
3 is a view showing a state in which the system of FIG. 1 is applied to a finishing material installation site.
4 is a view showing a state before the loading box is placed in FIG. 3;
5 is a diagram illustrating a state in which the robot system according to the embodiment of the present invention of FIG. 1 is initially installed in a field.
6 is a view showing a state in which the self-driving work robot lands on a flat floor material after moving forward in the state of FIG. 5 .
FIG. 7 is a view of a state in which the floor finishing material is moved one more space from the state of FIG. 6 .
FIG. 8 is a view of arranging the height of the arm portion for drawing out the floor finishing material in the state of FIG. 7 .
9 to 11 are diagrams illustrating a process of drawing out a floor finishing material in a loading box with a gripper in an embodiment of the present invention.
12 is a view showing the appearance of the gripper module before and after adhesion of the floor finishing material in an embodiment of the present invention.
FIG. 13 is a plan view illustrating a state in which an autonomous working robot lowers a floor finishing material placed on an arm part and installs it on a flat floor material after the operation of FIG. 11 .
FIG. 14 is a view showing a state in which the self-driving work robot moves one more space for the next task after FIG. 13 .
15 is a view explaining the operation of the floor finishing material adhering means according to an embodiment of the present invention.
16 is a diagram explaining the principle of recognizing a position based on a light source marker.

Then, with reference to the accompanying drawings, an embodiment of the present invention will be described in detail so that those skilled in the art can easily practice it. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected" but also the case where it is "electrically connected" with another element interposed therebetween. . In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

1 is a diagram showing the configuration of a self-driving multipurpose work robot system for self-driving construction use according to an embodiment of the present invention, and FIG. 2 is a diagram showing a state before combining two robots in FIG. 1 .

Referring to FIGS. 1 and 2 , the self-driving multipurpose work robot system 1000 for orientation-maintaining construction according to an embodiment of the present invention includes an autonomous transport robot 100 and autonomously installing floor finishing materials while varying a distance therefrom. It is configured to include a traveling working robot 200.

The autonomous transport robot 100 includes a first moving platform 110 . A loading box 20 in which a plurality of floor finishing materials 10 are stacked is placed on top of the first movable platform 110, and is towed and moved while being coupled with the second movable platform 210. It is obvious that the first moving platform 110 includes driving wheels.

In the loading box 20, a plurality of floor finishing materials 10 are stacked up and down inside in a state of being spaced apart from each other through guide pieces 21 arranged at equal intervals along the inner wall. The floor finishing material 10 may correspond to finishing materials of various materials such as marble.

The self-driving work robot 200 can move while towing the self-driving transport robot 100 located at the rear from the front, and takes out the floor finishing materials 10 in the loading box 20 placed on the autonomous transport robot 100 one by one. It is installed on the floor flat material (30).

The self-driving robot 200 is coupled to the self-driving transport robot 100 through a pair of binding links 250 . Both ends of the binding link 250 in the longitudinal direction may be rotatably coupled to the autonomous transport robot 100 and the autonomous robot 200 , respectively.

At this time, the binding links 250 exist as a pair to connect both sides of the first moving platform 110 and the second moving platform 210 .

The autonomous driving robot 200 includes a second moving platform 210 and a gripper module 220 . The second mobile platform 210 is connected to the first mobile platform 110 via a binding link 250 to tow the autonomous transport robot 100 from the front. The second moving platform 210 also includes driving wheels.

The gripper module 220 is installed on one side of the second mobile platform 210, and after individually accessing the floor finishing materials 10 of each floor in the loading box 20, the floor finishing materials 10 are drawn out one by one to pre-install on the site. The floor finishing material 10 is lowered onto the floor flat material 30 and installed.

Specifically, the self-driving work robot 200 inserts the arm part 221 of the gripper module 220 into the lower side of the floor finishing material 10 of the corresponding floor in the loading box 20, and then inserts the floor finishing material 10 into the arm part 221. The arm part 221 is retracted again in a state where the floor finishing material 10 is withdrawn.

The gripper module 220 includes a vertical support 222 , a horizontal plate 225 , and a pair of arm parts 221 . The vertical support 222 is installed on the front of the second moving platform 210 and directly or indirectly supports the horizontal plate 225 and the pair of arm parts 221 .

The horizontal plate 225 is movably coupled to the vertical support 222 to be movable to a target height. The height of the arm part 221 can be adjusted according to the movement of the horizontal plate 225 .

The pair of arm parts 221 correspond to both arms of the robot on which the floor covering is placed, and are slidable in the forward and backward directions in a stacked state on the horizontal plate 225 so as to be inserted into the lower side of the floor covering 10 or initially It is possible to return to position.

A plurality of embossing protrusions 224 made of a flexible material may be formed on the upper surface of the arm part 221 . According to this, when the floor finishing material 10 is later placed on the upper surface of the arm part 221, a part of the embossing protrusion 224 can be inserted into a plurality of groove areas formed on the lower surface of the floor finishing material 10, and in this state, the floor is stably The finishing material 10 may be withdrawn.

Although the embodiment of the present invention may enter the lower side of the floor finishing material 10 by sliding the arm part 221 with respect to the horizontal plate 225, the arm part ( 221) can enter the site. When the floor finish is light, the former method is mainly used, and when the floor finish is heavy, the latter method can be used.

The horizontal support 226 has one end fixed to the top of the second moving platform 210 and the other end is movably coupled in the forward and backward directions so that the vertical support 222 approaches the first moving platform 110 or return to the initial position.

At this time, if the weight of the floor finishing material is less than the reference value, the floor finishing material 10 is drawn out by moving only the pair of arm parts 221 in the state where the horizontal support 226 is placed in the initial position, and if it is more than the reference value, the pair of arm parts ( 221) in the initial position, the floor finishing material may be taken out by moving only the horizontal support 226. The weight of the floor finishing material may be determined by a weight sensor mounted on the arm part 221. For example, in the state of FIG. 1 , the weight of the floor finishing material may be measured by moving the arm part 221 to the lower side of the floor finishing material and then lifting the weight.

3 is a view showing a state in which the system of FIG. 1 is applied to a finishing material installation site, and FIG. 4 is a view showing a state before the loading box is placed in FIG. 3 .

First, referring to FIG. 3 , it can be seen that floor planar materials 30 for preventing subsidence and flattening are installed parallel to and spaced apart from each other. Here, the floor flat material 30 may be installed on the compacted soil 40 and may be formed of a metal material, but the present invention is not necessarily limited thereto.

The floor finishing material 10 is installed on the floor flat material 30, and it can be seen that the floor finishing material 10 is installed between two adjacent floor flat materials 30. That is, it is installed in such a way that both edge portions of the floor finishing material 10 are placed on the two adjacent floor flat materials 30.

In addition, each floor flat material 30 is fixedly installed on the top of the compacted soil 40 to maintain a certain distance from each other, and the installation interval of the floor flat material 30 may be determined by the width size of the floor finishing material 10 have.

In the embodiment of the present invention, each of the robots 100 and 200 can move by autonomously driving to the corresponding work site in a state of being separated from each other, and connected to each other through a binding link 250 by a worker at the site arrived at by autonomous driving, As shown in FIG. 5 to be described later, a set number of basic floor finishing materials initially installed in the field may be introduced.

Here, in the case of the loading box 20, since the weight is very high due to the heavy floor finishing materials stacked inside, as shown in FIG. It can be safely transferred onto the robot 100. A separate ring 21 may be formed at the top of the loading box 20 to facilitate crane operation.

Here, of course, the robot system 1000 can be put into the work site in multiple units to perform work for each line and increase work speed and efficiency.

In an embodiment of the present invention, sensor modules 130 and 230 for autonomous driving are mounted on each of the autonomous transport robot 100 and the autonomous robot 200, respectively. These autonomous driving sensor modules 130 and 230 may be installed on each of the mobile platforms 110 and 210 .

The sensor modules 130 and 230 for autonomous driving support autonomous driving by sensing surrounding environment information including images, and also recognize the installation state and location of the floor finishing material 10 installed in the field.

In addition, each of the autonomous driving sensor modules 130 and 230 may assist autonomous driving of the robot system 1000 while cooperating with each other. Of course, through this, each robot (100, 200) can embed a wireless communication module for mutual information transmission and reception, and a control module for various signal processing, calculation, and control of each component in the robot. Of course, through this, it is possible to grasp the current position of each robot (100, 200) on the two-dimensional coordinate system, the installation coordinates of the floor finishing material, the number of installations, the installation state, etc. can

In addition, each of the robots 100 and 200 are distributed and installed in the field, and autonomously drive to the location of the target site, sharing and collaborating with each other sensing information even in the process of meeting each other to identify and share the location of each other and avoid collisions. can do.

The sensor modules 130 and 230 for autonomous driving may correspond to a multi-function camera/sensor module incorporating an image sensor and a plurality of environmental sensors, and the plurality of environmental sensors include lidar and radar sensors for detecting objects and measuring relative distances. etc. may be included. Of course, the environment sensor may further include a sensor for detecting ambient temperature, humidity, gas, and flame illumination. Here, it is also possible to implement such a sensor module as an IoT sensor with a built-in communication module.

Also, referring to FIGS. 1 to 3 , the robot system 1000 according to the embodiment of the present invention may include a driving control sensor 140 and a floor finishing material inspection sensor 240 .

At this time, the driving control sensors 140 are installed on both left and right sides of the first moving platform 110 toward the floor, and the boundary line of the floor finishing material 10 installed on the floor flat material 30 and the upper surface of the floor finishing material 10 By detecting the marker 11 located at the corner, the boundary line of the floor finishing material 10 is detected and the current position is estimated to ensure the straightness of autonomous driving and fall safety. Of course, the driving control sensor 140 may also operate in cooperation with the autonomous driving sensor modules 130 and 230 .

In addition, the sensor 240 for inspecting the floor finishing material is installed on the rear side of the second moving platform 210 to monitor the installation operation of the floor finishing material 10 through the gripper module 220 and inspect the installation state. Through this, it is possible to inspect the in-line arrangement state of the currently installed floor finishing materials and whether the distance between adjacent floor finishing materials satisfies the set distance. The sensor 240 for inspecting the floor finishing material may also operate in cooperation with the sensor modules 130 for autonomous driving.

Hereinafter, an operation of installing a floor finishing material of the self-driving multipurpose work robot system 1000 for orientation-maintaining construction according to an embodiment of the present invention will be described in more detail.

5 is a view showing a state in which a robot system according to an embodiment of the present invention is initially installed in a field.

First, as shown in FIG. 5, a set number (eg, 4) of basic floor finishing materials 10 are pre-installed on two adjacent floor flat materials 30, and an autonomous transport robot 100 and autonomous driving are installed thereon. The robot system 1000 including the working robot 200 is initially arranged. After that, the robot system 1000 installed in this way moves forward and sequentially installs additional floor finishing materials one by one.

At this time, the set number of floor finishing materials means the number of floor covering materials corresponding to the minimum area where the robot system 1000 is placed. In the case of FIG. 5 , the robot system 1000 is initially installed thereon in a state in which four basic floor finishing materials are pre-arranged along the starting point of the floor flat material 30 . The robot system 1000 can climb on the floor finishing material while traveling on its own based on sensor-based location recognition.

Next, after the self-driving work robot 200 is pre-arranged on the upper surface of the basic floor finishing material in a state of being bound to the self-driving transport robot 100 in this way, as shown in FIG. 7 described later, the self-driving transport robot 100 The end is moved forward until it reaches the end of the last Nth basic floor finish (fourth basic floor finish), preparing for the floor finish installation operation.

In addition, after the self-driving work robot 200 moves out of the N-th basic finishing material according to this forward movement, the driving wheel portion is placed on the upper surface of the two floor flat materials 30, and the floor flat material 30 is moved. It works by driving directly along the road.

A more detailed description of the process is as follows.

First, referring to FIG. 5 , the second moving platform 210 of the autonomous working robot 200 further includes a moving guide part 260 and a cylinder shaft part 265 . The gripper module 220 receiving the floor finishing material 10 is mounted on the rear surface of the body of the second moving platform 210, and the moving guide unit 260 is provided on the front surface of the body.

As described above, the gripper module 220 is a vertical supporter 222 installed on the rear surface of the second moving platform 210 and a horizontal plate that moves up and down based on the vertical supporter 222 to adjust the height of the arm portion 221. 225, a pair of arm parts 221 that slide back and forth on the horizontal plate 225, and a horizontal support 226 that moves the vertical support 222 forward and backward.

Of course, the auxiliary support 223 is connected between the vertical support 222 and the horizontal plate 225, the auxiliary support 223 is movable relative to the vertical support 222 and the horizontal plate 225 is the auxiliary support 223 ), it is possible to widen the height adjustment range of the arm part 221.

The moving guide unit 260 is rotatably coupled to the front surface of the body of the second moving platform 210, and when it rotates downward, its distal end is inserted between the two flat floor materials 30 so as to be in close contact with the rolling movement. do.

Figure 5 (b) is a view showing a state in which the moving guide portion moves downward and rotated in Figure 5 (a). Here, (a) of FIG. 5 shows a state in which the distal end of the movement guide unit 260 is turned upward and is in standby.

Specifically, as shown in (a) and (b) of FIG. 5, the movement guide unit 260 includes a pair of driving shafts 261 rotatably coupled to the front surface of the body of the second moving platform 210, and each driving shaft. It is connected between the ends of the 261 and implemented in a cylinder type so that the end portions are rotatably coupled to the ends of the cylinder portion 262 and each drive shaft 261 to be in close contact with the inside of the two floor flat materials 30, It includes a pair of moving rollers 263 moving along the upper surface of the floor flat material 30 .

In this way, the second moving platform 210 can stably move forward and tow based on a structure in which the cylinder portion 262 is rolled in close contact with the cylinder portion 262 inserted between the two floor flat materials 30, and can be stably moved forward and moved, and the vehicle width and direction of movement can keep Here, when the drive shaft descends downward toward the flat material on the floor, the rotation angle may be controlled by the cylinder shaft portion 265.

The cylinder shaft portion 265 is connected between the front side of the body of the second moving platform 210 and the drive shaft 261 and adjusts the rotation angle of the drive shaft 261 by adjusting the length of the cylinder. The cylinder can be driven by hydraulic pressure or the like.

As shown in (b) of FIG. 5, the second moving platform 210 rotates the drive shaft 261 at a set angle through the cylinder shaft portion 265 before the drive wheels installed on both sides of the body move out of the N-th basic finish material. The distal end of the moving guide unit 260 is moved by rolling on the floor flat material 30, and the driving wheel is moved in a floating state on the floor flat material 30 as shown in FIG. 6 below.

6 is a view showing a state in which the self-driving work robot lands on a flat floor material after moving forward in the state of FIG. 5 .

6 (a) shows a state in which the driving wheels of the second moving platform 210 move in a floating state, and (b) shows a state in which the driving wheels land on the flat floor material 30.

As shown in (a) of FIG. 6, when all the driving wheels are completely out of the last Nth basic finishing material, the angle of the driving shaft 261 is changed as shown in (b) of FIG. 6 to raise the body to the height of the floor finishing material 10 It is lowered by the amount so that the driving wheel touches the floor flat material 30. In this way, it is possible to overcome the height difference between the floor finishing material 10 and the flat floor material 30 .

That is, the self-driving robot 200 pulls the self-driving transport robot 100 while moving forward in a state in which the movement guide unit 260 is inserted between the two flat floor materials 30 . In the process, the robot system 1000 reaches the end of the basic floor finishing material through data fusion between the sensor modules 130 and 230 for autonomous driving, the sensor 140 for driving control, and the sensor 240 for inspecting the floor finishing material.

Meanwhile, during movement, as shown in FIG. 3 , various foreign substances on the flat floor material 30 may be removed by operating the cleaning means 270 mounted around the second moving platform 210 .

7 is a view showing a state in which the floor finishing material is moved one more space in the state of FIG. 6 . 7 is a state in which the distal end of the self-driving transport robot 100 has reached the distal end of the last fourth basic floor finishing material by moving a little further forward from FIG. 6 . After that, supply and installation of floor finishing materials can proceed.

Here, when the end portion of the self-driving transport robot 100 reaches the end of the last N-th basic floor covering material, the arm part 221 is inserted into the lower side of the floor covering material 10 of the corresponding floor in the loading box 20, and then the arm part ( 221) is lifted and the second moving platform 210 is retracted again in a state in which the floor finishing material is placed thereon. Then, by lowering the arm portion 221 on which the floor finishing material 10 is placed, the floor finishing material 10 is installed so as to be seated on two neighboring flat floor materials. This process may be repeated for each layer.

FIG. 8 is a view of arranging the height of the arm portion for drawing out the floor finishing material in the state of FIG. 7 . 8 shows a state in which the height of the arm part 221 is slightly lowered to a height for mounting the first finishing material than in the case of FIG. 7 and waits.

9 to 11 are diagrams illustrating a process of drawing out a floor finishing material in a loading box with a gripper in an embodiment of the present invention.

First, (a) and (b) of FIG. 9 show gripper operations in the case of a lightweight finishing material and a heavy finishing material, respectively.

In the case of a lightweight finishing material, as shown in FIG. 8, while the horizontal support 226 is left as it is, the arm part 221 is pushed and moved as shown in (a) of FIG. 9 to enter the lower surface of the floor finishing material 10. In this case, when a slidable auxiliary plate 227 is added between the arm part 221 and the horizontal plate 225, the movable range of the arm part 221 can be widened.

And, in the case of a high-weight finishing material, the arm part 221 is left as it is as shown in FIG. 8, and the horizontal support 226 is slid and moved as shown in FIG. 221) enters the lower surface of the floor finishing material (10).

10 (a) and (b) show a state in which a lightweight finishing material and a heavy finishing material are mounted on the arm portion after the operation of FIG. 9, respectively, by slightly raising the arm portion 221 in the state of FIG. indicates a state in which the is lifted tightly. Through this, the floor finishing material 10 is stably mounted on the arm part 221 .

After that, as shown in FIG. 11, the arm part 221 or the horizontal support 226 is returned to the initial position so that the arm part 221 is completely pulled out and the floor finishing material 10 is taken out of the stacking box 20.

12 is a view showing the appearance of the gripper module before and after adhesion of the floor finishing material in an embodiment of the present invention. As shown in FIG. 12, a plurality of grooves 12 are formed on the lower surface of the floor finishing material 10, so that some of the embossing protrusions 224 having elastic restoring force formed on the upper surface of the arm part 221 can be inserted and adhered thereto. have.

FIG. 13 is a plan view illustrating a state in which an autonomous working robot lowers a floor finishing material placed on an arm part and installs it on a flat floor material after the operation of FIG. 11 .

13 (a) is a state in which the arm part 221 is lowered after FIG. 11, and (b) is a state in which the contact means is operated. As shown in FIG. 13 , the autonomous driving robot 200 lowers the arm 221 on which the floor finishing material 10 is placed, and installs the floor finishing material 10 to be seated on the flat floor material 30 . Then, the floor finishing material adhering means 280a and 280b are operated to closely align with the neighboring floor finishing materials. At this time, the arm portion 221 may descend until the floor finishing material 10 is laid on the floor flat material 30, and may descend more leisurely to facilitate the escape of the arm portion 221 later.

FIG. 14 is a view showing a state in which the self-driving robot moves one more space after FIG. 13 for the next task.

The self-driving robot 200 may slowly move forward by the length of one unit of floor finishing material while maintaining the lowered state of the arm unit 221 so that the arm unit 221 can be easily removed. At this time, the arm part 221 may be slightly lowered and then moved out. And, according to the movement, the end of the autonomous transport robot 100 reaches the end of the floor finishing material 10 previously installed in FIG. 13 .

Then, as shown in (b) of FIG. 14, in a state where the arm part 221 is moved to the height position of the floor covering material of the next order, the floor covering material 10 of the next order (next layer) is withdrawn from the stacking box 20. It can be subsequently installed on the floor flat material 30. In this way, the installation can proceed to the floor finish on the top floor.

15 is a view explaining the operation of the floor finishing material adhering means according to an embodiment of the present invention.

In the case of the embodiment of the present invention, floor finishing material adhering means 280a and 280b may be installed at the bottom of the binding link and at the bottom of the rear surface of the second moving platform, respectively.

As shown in FIGS. 3 and 15, the floor finishing material adhesion means 280a and 280b apply an external force of a set size to the corresponding side surface of the floor finishing material 10 seated on the floor flat material 30, respectively, so that the floor finishing material is placed adjacent to the previously installed It can be closely aligned with the floor finishing material at regular intervals. The first floor finishing material adhering means 280a adheres the floor finishing material in the left and right directions, and the second floor finishing material adhering means 280b adheres the floor finishing material in the front and rear directions.

At this time, the distance between the floor finishing materials may be maintained through the material 50 for maintaining the distance having a cross-shaped frame, and the predetermined interval may be determined according to the thickness of the cross-shaped frame. To this end, between each corner of the floor covering material 10, a material 50 for maintaining a gap in the form shown in FIG. It can be installed together when lowering.

Here, the second mobile platform 210 may further include a space maintaining material installation module 290 as shown in FIG. The spacing maintenance material installation module 290 is installed under the second moving platform 210, and the space maintenance material 50 having a cross-shaped frame into which the corner of the floor finishing material 10 is fitted is a floor flat material ( 30) You can perform the installation work above.

The spacing maintenance material installation module 290 may take out the spacing maintenance materials 50 stored in the inner space of the second moving platform 210 one by one and install them on the floor flat material 30, in particular, the floor finishing material 10 ) can be installed according to the location of the part to be placed.

At this time, a material installation sensor 295 for monitoring the working state and installation state of the distance maintaining material installation module 290 may be additionally mounted on the binding link 250 as shown in FIG. 3 shown above.

For example, after recognizing the installation position using the material installation sensor 295, the space maintenance material 50 is installed at a specific location through the space maintenance material installation module 290, and the floor finishing material inspection sensor After recognizing the installation position of the finishing material using 240, the arm part 221 of the gripper module 220 is lowered to install the floor finishing material 10 on the material 50 for maintaining the distance, but the existing installed floor finishing material (neighbor floor) In order to adhere to the finishing material), the floor finishing material adhesion means 280a and 280b are operated.

Here, the installation quality of the floor finishing material 10 and the space maintenance material 50 placed on the floor flat material 30 can be inspected using the finishing material inspection sensor 240 and the material installation sensor 295, and the specific If the installation accuracy is not reached, the adhesion operation may be continued by operating the floor finishing material adhesion means 280a and 280b until a specific accuracy is reached.

In this way, after the material 50 for maintaining the distance and the floor finishing material 10 are installed, the external force of the floor finishing material adhering means 280a and 280b is used to maintain a simple distance between adjacent floor finishing materials 10 adjacent to each other in the front, rear, left and right directions. It is possible to maintain a certain distance from each other with the material 50 interposed therebetween. The material 50 for maintaining the distance assists in maintaining a certain distance between adjacent floor finishing materials and can prevent mutual impact, and later, a buffer, adhesive, etc. may be installed between the corresponding gaps.

16 is a diagram explaining the principle of recognizing a position based on a light source marker.

Referring to FIG. 16, a plurality of light source markers 300 emitting beams of different patterns are installed in a work site, and the real-time positioning device 400 provides an identification ID and The absolute position is known in advance.

Here, the real-time positioning device 400 may set its location as an origin (reference coordinates) and set the location coordinates of the plurality of light source markers 300 installed in the work site using vision or infrared light.

The light source marker 300 may be composed of a sequential combination of a light source, a light scattering device, a micro-pattern for assigning an ID to light, and a wide-angle lens for magnifying light. The light source marker 300 corresponds to an active marker, and when the location of the real-time positioning device 400 is changed, the locations of a plurality of active markers installed in the work site may also be changed.

The self-driving transport robot 100 identifies a plurality of light source markers 300 emitting beams of different patterns in the field using the installed autonomous driving sensor module 130, respectively, and each light source marker 300 The distance with the light source marker 300 is measured, and the distance with each identified light source marker 300 is measured. This process may be performed by a control module included in the autonomous transport robot 100 . Then, the autonomous transport robot 100 wirelessly transmits a distance value from itself to each light source marker 300 together with a light source identification code to the real-time positioning device 400 .

At this time, the real-time positioning device 400 calculates the position value of the autonomous transport robot 100 based on the positions of a plurality of light sources and the distance value between the autonomous transport robot and each light source, and then calculates the location value of the autonomous transport robot 100. transmit in real time. The self-driving transport robot 100 can share the position value received in real time from the real-time positioning device 400 with the self-driving work robot 200, and use this value as a representative position value of the robot system for autonomous driving do.

According to the present invention, construction automation and robot technology are introduced in the existing manpower-dependent wall and floor finishing material construction/inspection/maintenance fields, but break away from the non-universal construction robot paradigm limited to specific buildings and specific tasks. , work productivity/safety improvement, cost reduction and manpower supply/demand imbalance resolution, as well as reduction of development investment cost can be expected.

In addition, it enables safe construction work by isolating workers from hazardous/dangerous working environments, along with improving construction productivity and economic feasibility by eliminating or reducing high-risk and simple repetitive processes that are labor-intensive and frequently cause musculoskeletal disorders. The automation/robot-related technology developed in the present invention is expected to contribute to the development of other construction automation and robot fields.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

1000: Autonomous multi-purpose task robot system for towed construction
100: autonomous transport robot 110: first mobile platform
130: sensor module for autonomous driving 140: sensor for driving control
200: autonomous driving robot 210: second mobile platform
220: gripper module 221: arm part
222: vertical support 223: auxiliary support
224: embossing protrusion 225: horizontal plate
226: horizontal support 240: sensor for inspecting floor finishes
250: binding link 260: movement guide unit
261: drive shaft 262: cylinder part
263 moving roller 265 cylinder shaft
270: cleaning means 280: floor finishing material adhesion means
290: spacing maintenance material installation module 295: sensor for material installation
300: light source marker 400: real-time positioning device

Claims (16)

An autonomous transport robot having a first moving platform on which a load box in which a plurality of floor finishing materials are spaced apart from each other is placed on top through guide pieces arranged at equal intervals therein; and
A second mobile platform connected to the first mobile platform via a pair of parallel binding links to tow the autonomous transport robot from the front, and a second mobile platform installed on one side of the second mobile platform and each floor in the loading box. Including an autonomous working robot equipped with a gripper module that individually approaches the floor finishing materials and then withdraws the floor finishing materials one by one and lowers them onto a floor flat material installed in advance at the site,
The self-driving work robot,
After inserting the arm of the gripper module into the lower side of the floor finishing material of the corresponding floor in the loading box, the arm part is retracted in a state where the floor finishing material is placed on the arm part to withdraw the floor finishing material. The method of claim 1,
The gripper module,
a vertical support installed on the front of the second moving platform;
a horizontal plate coupled to be liftable based on the vertical support and moving to a target height; and
Orientation including a pair of arms that correspond to both arms of the robot on which the floor covering is placed and can slide in the forward and backward directions in a stacked and coupled state on the horizontal plate to be inserted into the lower side of the floor covering or returned to an initial position Autonomous multipurpose work robot system for maintenance-free construction. The method of claim 2,
The pair of arm parts,
A plurality of embossing projections made of a flexible material are formed on the upper surface,
The floor covering,
When placed on the arm portion, a plurality of grooves into which some of the plurality of embossing projections are inserted are formed on the lower surface of the self-driving multipurpose work robot system for orientation-maintaining construction. The method of claim 2,
The gripper module,
In a state where one end is fixed to the top of the second moving platform, the other end is coupled to be movable in the forward and backward directions, further comprising a horizontal support that approaches the vertical support to the first moving platform or returns to an initial position,
If the weight of the floor finishing material is less than the reference value, the horizontal support is placed in the initial position and only the pair of arm parts are moved to withdraw the floor finishing material. If the weight is greater than the reference value, the pair of arm parts are placed in the initial position and only the horizontal support is moved Self-driving multipurpose work robot system for bearing-maintaining construction that retrieves floor finishes. The method of claim 1,
Each of the autonomous transport robot and the autonomous working robot,
Sensor modules for autonomous driving that support autonomous driving by sensing surrounding environment information including video and recognize the installation state and location of floor finishing materials installed on site are installed, respectively.
Self-driving multi-purpose work robot system for defense-maintaining construction in which each autonomous driving sensor module cooperates with each other to assist autonomous driving. The method of claim 5,
It is installed on the side of the first mobile platform and detects the boundary line of the floor finishing material installed on the floor flat material and the marker located on the corner of the upper surface of the floor finishing material to assist the straightness and fall safety of autonomous driving, and the sensor module for autonomous driving An autonomous multipurpose work robot system for defense-maintaining construction that further includes a sensor for driving control that cooperates with the robot. The method of claim 5,
For orientation-maintaining construction, which is installed on the rear side of the second mobile platform and further includes a floor finishing material inspection sensor that monitors the installation operation of the floor finishing material through the gripper module, inspects the installation state, and cooperates with the autonomous driving sensor module. Autonomous driving multi-purpose task robot system. The method of claim 1,
At the site, a plurality of floor flat materials are installed parallel to and spaced apart from each other, and the floor finishing material is installed between two adjacent floor flat materials,
In a state in which a set number of basic floor finishing materials are pre-installed on two neighboring flat floor materials, the self-driving transport robot and the autonomous working robot are initially placed on top of the basic floor covering materials, and then additional floor finishing materials are sequentially installed while moving forward Self-driving multipurpose work robot system for defense-holding construction. The method of claim 8,
The self-driving work robot,
After being pre-placed on the upper surface of a set number of basic floor coverings in a state of being bound to the self-driving transport robot, the end of the self-driving transport robot moves forward until it reaches the end of the last N-th basic floor covering to install the floor covering prepare work,
An autonomous multi-purpose robot system for self-driving multi-purpose construction that works while traveling along the upper surfaces of the two floor flat materials after departing from the Nth basic floor finishing material according to the forward movement. The method of claim 9,
The self-driving work robot,
When the distal end reaches the end of the last N-th basic floor covering, insert the arm into the lower side of the floor covering of the corresponding floor in the loading box, lift the arm, put the floor covering on the second mobile platform, and then retract,
An autonomous multi-purpose work robot system for self-driving multipurpose construction for bearing-maintaining type construction that lowers the arm on which the floor finishing material is placed and installs the floor finishing material so as to be seated on the two neighboring flat floor materials. The method of claim 9,
The self-driving work robot,
After installing the floor finishing material, move forward as much as one unit length of the floor covering material while maintaining the lowered state of the arm unit so that the end of the autonomous transport robot reaches the end of the installed floor covering material,
In a state in which the arm unit is moved to a height corresponding to the next floor finishing material, the self-driving multipurpose robot system for self-driving construction for taking out and subsequently installing the next floor covering material on a flat floor material. The method of claim 9,
The second mobile platform,
A driving shaft coupled to the front of the body so as to be rotatable, and a moving guide unit that rolls in close contact with an end portion inserted between the two flat floor materials; and
A self-driving multipurpose work robot system for orientation-maintaining construction comprising a cylinder axis connected between a body and the drive shaft and adjusting a rotation angle of the drive shaft by adjusting the length of the cylinder. The method of claim 12,
The second mobile platform,
Before the driving wheels installed at both lower ends of the body move out of the Nth basic floor finishing material, the driving shaft is rotated at a set angle through the cylinder shaft to roll and move the distal end of the moving guide part on the flat floor material. Move the wheel in a floating state on the floor flat material,
When the driving wheel completely departs from the Nth basic floor finishing material, the angle of the driving shaft is changed to lower the body by the height of the floor finishing material to land the driving wheel on a flat floor material Self-driving multi-purpose for construction working robot system. The method of claim 1,
It is installed at the lower end of the binding link and the lower part of the rear surface of the second moving platform, respectively, and applies an external force to the corresponding side surface of the floor finishing material seated on the floor flat material, respectively, to closely align with the previously installed adjacent floor finishing material at regular intervals. Self-driving multi-purpose work robot system for bearing-maintaining construction further comprising a means for adhering to a floor finish. The method of claim 1,
The second mobile platform,
Self-driving multipurpose work robot system for orientation-maintaining construction, further comprising a spacing maintenance material installation module for installing a spacing material having a cross-shaped frame into which the edge of the floor finishing material is fitted on the floor flat material. The method of claim 1,
The self-driving transport robot,
Using the installed sensor module for self-driving, a plurality of light source markers distributed and installed at the work site and emitting beams of different patterns are identified, the distance to each light source marker is measured, and the distance value to each light source marker is measured. is wirelessly transmitted to the positioning device along with the light source identification code and then the real-time received position value is shared with the self-driving robot,
The real-time positioning device,
A self-driving multipurpose work robot system for bearing-maintaining construction that calculates and transmits the position value of the autonomous transportation robot based on the position of each light source marker and the distance value between the autonomous transportation robot and each light source marker in real time.

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