Development of a Construction Robot for Marking on Ceiling Boards

摘要

Previously, we proposed a self-positioning measurement system for autonomous mobile robots at work sites. 1-4) The system depends on the basic principle of triangulation. Preparations are not required for specific reference points, but use pillars standing on the floor. We also developed a prototype robot that utilizes the system. The marking robot leaves a specific mark at the installation position for apparatuses on ceiling boards in large buildings. The robot moves autonomously, recognizes its position, and draws figures with an error of a few millimeters on the ceiling board. It can reach a height of about 3000mm.