著者

田中 幸悦 高野 賢大朗 梶谷 誠 金森 哉吏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.634, pp.2398-2404, 1999-06-25

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The authors have proposed a marking robot which draws specific marks at designated positions on a ceiling board at construction siteS. After that, a new function was added to the robot. It is necessary to be work which draws a reference straight-line to a ceiling board in building construction sites. This report proposes about the method which makes this task do for a mobile robot. The system is composed of the standard laser, the prototype of Straight-line Drawing Unit (SLD Unit) which has a function of tracking the laser beam and a function of drawing, and the mobile robot. The robot loads the SLD Unit and moves toward the standard laser. In order to catch the standard laser beam, the robot changes its trajectory. The robot controls its two drive wheels in a way that allows each wheel to move independently, so it can trace a straight line. Based on the experiments, the robot could the task of drawing the amplitude of the straight line with an accuracy of plus or minus 1 mm when drawing a 10 m line. This paper mainly describes the SLD Unit and the wheel control, and presents the experimental results of marking by the robot.

著者

田中 幸悦 梶谷 誠 金森 哉吏 阿部 靖則

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.69, no.679, pp.676-682, 2003-03-25

被引用文献数

2

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We are developing positioning systems for mobile robots working at construction sites. In earlier work, we investigated the use of pillars as reference points at construction sites for a position recognition system, and reported on the performance of a prototype system. To further increase the flexibility of the robot system, we have developed a new self-position measurement system for the mobile marking robot. This new system is aimed at expansion of the work area of the marking robot. The system is composed of a prototype of a laserpointer robot and a marking robot with laser-spot detectors. The marking robot uses a point of laser light projected onto it by the laser-pointer robot, placed at a reference point, to determine its position. This report outlines the method for the self-position measurements and describes the performance of the system in a field test.