Development of a Construction Robot for Marking on Ceiling Boards.

Abstract

This paper describes a marking robot which leaves a specific mark at the fitting position for various apparatus on the ceiling boards in large buildings. We have developed a prototype system and carried out an experimental assessment. The robot can move autonomously and locate itself at desired locations. Then it can draw specific figures on the ceiling board. In order to accomplish such jobs, the mobile robot is carrying a Self-Position Measuring System (SPMS) and a Marking System (MS). The SPMS measures the bearings of the surrounding pillars, so that the calculation based on triangulation can give the coordinates of its own position. The MS is composed of the X-Y-plotter-like drawing equipment and the lifting mechanism elevating it to the ceiling board. Experimental results proved that this system was able to mark a square and a circle with an error of ±l0 mm.