KR102764937B1 - Construction system using indoor positioning automation technology for construction work - Google Patents

Abstract

A construction system utilizing indoor positioning automation technology for construction work is disclosed. The construction system includes a laser tracker unit, a mobile robot unit, a reference point registration unit, a laser tracker coordinate calculation unit, a reference point registration unit, and a movement position setting unit. The mobile robot unit is equipped with a laser tracker unit, the reference point registration unit registers a plurality of reference points on a building using the laser tracker unit, the laser tracker coordinate calculation unit calculates the coordinates of the laser tracker unit using the coordinates of the registered reference points, the reference point registration unit registers a plurality of reference points on a building that are different from the plurality of registered reference points as coordinates in the coordinate system of the reference points, and the movement position setting unit sets the movement position of the mobile robot unit. According to this configuration, by mounting a positioning device on a mobile robot and moving it, positioning is possible when there is an obstacle in the straight-line distance between the positioning device and an object, and the movement of the device becomes easy even when the positioning point is moved.

Description

{Construction system using indoor positioning automation technology for construction work}

The present invention relates to construction-related technologies, and more specifically, to a system for performing construction using indoor positioning using a robot.

In construction, total stations, robot total stations, and 3D laser scanners are used as indoor positioning equipment, and they provide high precision in units of 1 mm. However, if there is an obstacle in the straight line between the positioning equipment and the target, positioning is impossible, and if the positioning point is moved to avoid it, it is inconvenient to move the equipment, and additional work is required to align the point cloud for the acquired data, which is inconvenient.

In addition, when applying construction robots to construction sites, the difficulty of applying the technology is high due to the characteristics of frequently changing obstacles and the need to move the robot base during construction. In particular, the construction precision in construction is at the level of 1 mm to 50 mm, but the positioning precision of mobile robots using LiDAR technology is ±500 mm, and the positioning precision of other indoor positioning technologies that assist this is far below the required level (Wi-Fi: 5 to 10 m, UWB: 0.3 m, Zig-Bee 3 to 10 m). Accordingly, even if the positioning precision of the upper manipulator is excellent, it is difficult to apply position-based construction robots because the positioning precision of the mobile robot is low.

KR 100948947 B1

The present invention has been made to solve the above-described conventional problems, and aims to provide a construction site indoor positioning system using a robot, which enables positioning even when there is an obstacle in the straight-line distance between the positioning equipment and the target object, makes it easy to move the equipment even when the positioning point moves, and does not require additional work such as point cloud alignment for the acquired data.

In addition, the purpose is to provide an indoor positioning system for construction work using a robot that facilitates the application of a location-based construction robot even when the positional accuracy of the mobile robot is low when applying the construction robot to a construction site.

In order to achieve the above purpose, a construction system using an indoor positioning automation technology according to the present invention includes a laser tracker unit, a mobile robot unit, a reference point registration unit, a laser tracker coordinate calculation unit, a reference point registration unit, and a movement position setting unit.

The mobile robot section is equipped with a laser tracker section, the reference point registration section registers a plurality of reference points on a building using the laser tracker section, the laser tracker coordinate calculation section calculates the coordinates of the laser tracker section using the coordinates of the registered reference points, the reference point registration section registers the plurality of registered reference points and a plurality of reference points on a building different from each other as coordinates in the coordinate system of the reference point, and the movement position setting section sets the movement position of the mobile robot section.

According to this configuration, by mounting the positioning equipment on a mobile robot and moving it, positioning is possible when there is an obstacle in the straight-line distance between the positioning equipment and the target, and the movement of the equipment becomes easy even when moving the positioning point.

At this time, the mobile robot part moves to the positioning area formed by the reflectors corresponding to the moving position, the reference point registration part re-registers the reference point position at the moving position, and the laser tracker coordinate calculation part can calculate the coordinates of the laser tracker part using the re-registered reference point. According to this configuration, the positioning equipment is automatically moved to an area where coordinate acquisition is easy, and additional work such as point cloud alignment is not required for the data acquired at the moving position.

In addition, a movement location input unit for receiving a movement location may be further included. With this configuration, the mobile robot can be moved to an appropriate positioning location by user input.

In addition, a movement position calculation unit may be further included to calculate a movement position to avoid obstacles between the laser tracker unit and the target position. With this configuration, the positioning device can be autonomously moved to an appropriate positioning position even without user input.

In addition, a construction robot information acquisition unit may be further included to acquire construction robot information including the location and posture of the construction robot by using a reflector attached to the construction robot. According to this configuration, when applying the construction robot to a construction site, even when the location precision of the mobile robot of the construction robot is low, the application of the location-based construction robot can be facilitated.

At this time, a coordinate conversion unit that converts construction robot information into a coordinate system of the construction robot, and an information transmission unit that transmits the construction robot information whose coordinates have been converted to the construction robot may be further included.

In addition, the apparatus may further include a construction location confirmation unit for confirming the coordinates of the construction target, a location comparison unit for comparing the coordinates of the actual location of the construction target with the location on the coordinates, and a coordinate correction unit for correcting the coordinates of the construction target using the actual location. With this configuration, accurate construction can be performed even when the actual construction location is different from the coordinates on the drawing.

At this time, the information transmission unit can further transmit the corrected coordinates to the construction robot.

Additionally, the indoor positioning construction system using a laser tracker and a mobile robot may further include a construction robot together with the positioning robot.

According to the present invention, by mounting a positioning device on a mobile robot and moving it, positioning is possible when there is an obstacle in the straight-line distance between the positioning device and the target object, and the movement of the device becomes easy even when moving the positioning point.

In addition, the positioning equipment is automatically moved to an area where coordinate acquisition is easy, and additional work such as point cloud alignment is not required for data acquired at the moving location.

Additionally, the mobile robot can be moved to an appropriate position by user input.

Additionally, it becomes possible to autonomously move the positioning device to an appropriate positioning location even without user input.

In addition, when applying a construction robot to a construction site, it is possible to facilitate the application of a location-based construction robot even when the positional accuracy of the mobile robot of the construction robot is low.

Figure 1 is a schematic block diagram of a construction system using an indoor positioning automation technology for construction work according to one embodiment of the present invention.
Figure 2 is a drawing showing an example of a positioning robot implemented with a laser tracker part mounted on a mobile robot.
Figure 3 is a drawing for explaining the registration process of Base Points and Reference points.
Figure 4 is a drawing for explaining the movement of a positioning robot.
Figure 5 is a drawing explaining the process of re-registering reference points.
Figures 6 and 7 are drawings illustrating the process of confirming the coordinates of a construction target, respectively.
Figures 8 and 9 are drawings for explaining the coordinate measurement process of the construction robot, respectively.
Figure 10 is a drawing for explaining the anchor construction process of a construction robot.

Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

FIG. 1 is a schematic block diagram of a construction system using an indoor positioning automation technology according to one embodiment of the present invention. In FIG. 1, the construction system includes a positioning robot (100) and a construction robot (200), and the positioning robot (100) includes a laser tracker unit (105), a mobile robot unit (110), a reference point registration unit (115), a laser tracker coordinate calculation unit (120), a reference point registration unit (125), a movement location setting unit (130), a movement location input unit (135), a movement location calculation unit (140), a construction robot information acquisition unit (145), a coordinate conversion unit (150), an information transmission unit (155), a construction location confirmation unit (160), a location comparison unit (165), and a coordinate correction unit (170).

The mobile robot part (110) is equipped with a laser tracker part (105). Fig. 2 is a drawing showing an example of a positioning robot implemented with a laser tracker part (105) equipped on a mobile robot part (110).

As shown in Fig. 2, the H/W of the indoor positioning robot technology shown in Fig. 1 can be implemented with a laser tracker (Hexagon ATS 600), a reflector, and a mobile robot (AMR), and other configurations of the positioning robot can be implemented using control software.

The reference point registration unit (115) registers multiple reference points on a building using the laser tracker unit (105), and the laser tracker coordinate calculation unit (120) calculates the coordinates of the laser tracker unit (105) using the coordinates of the registered reference points.

This is a method of starting automatic positioning work after conducting a survey of three or more points (site survey points) to align the site coordinate system. Reflectors are installed at the site survey points to obtain three or more base survey points that serve as the basis for the absolute coordinate system (matching the drawing coordinate system).

The reference point registration unit (125) registers a plurality of registered reference points and a plurality of reference points on other buildings as coordinates in the coordinate system of the reference point, and the movement position setting unit (130) sets the movement position of the mobile robot unit (110). When the positioning area is wide, reference points are added using a reflector to expand the working area of the positioning robot.

According to this configuration, by mounting the positioning equipment on a mobile robot and moving it, positioning is possible when there is an obstacle in the straight-line distance between the positioning equipment and the target, and the movement of the equipment becomes easy even when moving the positioning point.

At this time, the mobile robot part (110) moves to a positioning area formed by reflectors corresponding to the moving position, the reference point registration part (125) re-registers the reference point position at the moving position, and the laser tracker coordinate calculation part (120) can calculate the coordinates of the laser tracker part (105) using the re-registered reference point.

With this configuration, the positioning device is automatically moved to an area where coordinate acquisition is easy, and additional work such as point cloud alignment is not required for data acquired at the moving location.

The movement location input unit (135) can receive the movement location of the mobile robot unit (110). With this configuration, the mobile robot can be moved to an appropriate positioning location by user input.

The movement position calculation unit (140) calculates the movement position to avoid obstacles between the laser tracker unit (105) and the target position. With this configuration, the positioning device can be moved autonomously to an appropriate positioning position even without user input.

The construction robot information acquisition unit (145) acquires construction robot information including the location and posture of the construction robot (200) by using a reflector attached to the construction robot (200). According to this configuration, when applying the construction robot (200) to a construction site, even when the location accuracy of the mobile robot, which is the construction robot moving unit, is low, the application of the location-based construction robot can be facilitated.

The coordinate conversion unit (150) converts the construction robot information into the coordinate system of the construction robot, and the information transmission unit (155) transmits the construction robot information, whose coordinates have been converted, to the construction robot (200). Accordingly, the positioning robot autonomously drives to avoid obstacles, converts the final location information to be constructed into coordinates on the construction robot local coordinate system, and transmits them. The construction robot receives this information, tracks the location, and performs construction.

The construction location confirmation unit (160) confirms the coordinates of the construction target, the location comparison unit (165) compares the coordinate position of the actual location of the construction target with the location on the coordinates, and the coordinate correction unit (170) corrects the coordinates of the construction target using the actual location.

With this configuration, accurate construction can be performed even when the actual construction location differs from the coordinates on the drawing. At this time, the information transmission unit (155) can further transmit the corrected coordinates to the construction robot.

Below, a more specific example of a positioning robot application scenario is described. Fig. 3 is a diagram for explaining the registration process of Base Points and Reference points. In Fig. 3, Base Points are first registered.

Registering the measurement reference points of a building creates an absolute coordinate system. At least three points must be registered, and each point must have a corresponding drawing coordinate. The transformation matrix is calculated using the measured Tracker coordinates and reference coordinates.

Next, register the reference points. If the positioning robot moves to a distant area or the base points cannot be registered by another robot, additional reference points are registered. At this time, the reference points are registered as coordinates measured in the previously registered base points reference coordinate system.

Next, the positioning robot is moved and the existing reference points are re-registered. Fig. 4 is a drawing for explaining the movement of the positioning robot. The mobile robot is moved to another location to avoid the surveying target location or other obstacles, and the mobile robot can be commanded to move to the desired location using the surveying robot GUI.

There is a position movement and a rotation value in the Z-axis direction according to the movement distance during movement. After movement, the previously registered Reference points are re-registered to recalculate the position of the Tracker coordinate system.

Figure 5 is a diagram for explaining the process of re-registering reference points. Figure 5 illustrates an indoor positioning automation technology that includes the process of autonomous driving movement and automatic search for reflectors while moving after recognizing a positioning area, and alignment becomes unnecessary through this process.

Next, the construction target coordinates are confirmed. This is done by confirming the construction target coordinates with respect to the drawing (reference point) reference coordinates, and if the actual ceiling height is different, the Z-axis coordinate position can be corrected. Figures 6 and 7 are drawings illustrating the process of confirming the construction target coordinates, respectively.

Next, the coordinates of the construction robot are measured. Figures 8 and 9 are drawings for explaining the coordinate measurement process of the construction robot, respectively. The position of the construction robot is measured using a reflector attached to the side of the construction robot, and is transmitted to the construction robot to perform mobile robot re-movement or work position correction.

It measures three or more points and transmits them to the construction robot coordinate system location. The coordinate information (X, Y, Z) of the construction robot coordinate system for the three points is required, and the drawing location and inclination of the construction robot can be transmitted as result data.

Finally, the construction robot performs construction. For example, in the case of anchor installation, the location of the construction robot is confirmed and the anchor is installed in the corrected location. Figure 10 is a drawing explaining the anchor installation process of the construction robot.

In summary, the present invention proposes an indoor positioning automation technology for construction work utilizing a laser tracker and a mobile robot, and a location-based construction automation technology utilizing the same. More specifically, the present invention proposes a S/W technology that uses autonomous driving path information to identify the position and attitude of a positioning robot, calculates the same in reverse, and automatically finds basic and reference surveying points at the location after moving, and confirms its own position.

In addition, we present a software technology that autonomously drives to a location where three or more points are recognized, considering the incident angles of input reflectors while avoiding obstacles, and automatically locates the target object, and a software technology that automatically converts coordinates from the tracker coordinate system (local coordinate system) to the absolute coordinate system without a separate alignment process.

In addition, we present a technology that enables position-based precision construction robot technology by providing accurate position information from the construction robot base to the target installation location (within the absolute coordinate system) so that the position precision of the upper manipulator can be sufficiently utilized despite the inaccurate position precision of the mobile robot.

Accordingly, indoor precision positioning technology (in mm units) can be implemented using reflectors, and automatic positioning for obstacle avoidance and moving the measuring point are possible without the need for a separate coordinate system alignment process, and the introduction of location-based robot construction technology at indoor construction sites is possible.

Although the present invention has been described by some preferred embodiments, the scope of the present invention should not be limited thereby, but should extend to modifications and improvements of the above embodiments as supported by the scope of the claims.

100: Positioning Robot
105: Laser tracker section
110: Mobile Robot Department
115: Reference Point Registry
120: Laser tracker coordinate generation unit
125: Reference Point Registry
130: Moving location setting section
135: Movement location input section
140: Movement position calculation section
145: Space-time robot information acquisition department
150: Coordinate transformation section
155: Information Transmission Section
160: Construction location confirmation section
165: Position comparison section
170: Coordinate correction section
200: Space-time robot

Claims (9)

Laser tracker section;
A mobile robot section equipped with the above laser tracker section;
A reference point registration unit that registers multiple reference points on a building using the above laser tracker unit;
A laser tracker coordinate calculation unit that calculates the coordinates of the laser tracker unit using the coordinates of the above reference point;
A reference point registration unit that registers a plurality of reference points on the building other than the plurality of reference points as coordinates in the coordinate system of the reference points; and
A construction system using an indoor positioning automation technology for construction work, including a movement location setting unit that sets the movement location of the above mobile robot unit,
The above mobile robot part moves to a positioning area formed by reflectors corresponding to the movement position,
The above reference point registration section re-registers the reference point location at the above moving location,
The above laser tracker coordinate calculation unit calculates the coordinates of the laser tracker unit using the re-registered reference point,
It further includes a movement location input section for receiving the above movement location,
Further comprising a movement position calculating unit for calculating the movement position to avoid obstacles between the laser tracker unit and the target position,
It further includes a construction robot information acquisition unit that acquires construction robot information including the position and posture of the construction robot by using a reflector attached to the construction robot.
A coordinate conversion unit that converts the above construction robot information into the coordinate system of the above construction robot; and
It further includes an information transmission unit that transmits the space-time robot information in which the above coordinates are converted to the space-time robot,
Construction location confirmation unit that confirms the coordinates of the construction target;
A position comparison unit that compares the position on the above coordinates with the actual position of the above construction target; and
Further comprising a coordinate correction unit for correcting the coordinates of the construction target using the actual location,
A construction system using indoor positioning automation technology for construction work, characterized in that the information transmission unit further transmits the corrected coordinates to the construction robot.
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