Publications / 2018 Proceedings of the 35th ISARC, Berlin, Germany

Marking Robot in Cooperation with Three-Dimensional Measuring Instruments

Takashi Kitahara, Kouji Satou and Joji Onodera
Pages 292-299 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1, ISSN 2413-5844)
Abstract:

The marking robot has been developed for the purpose of streamlining marking operations at power plant construction sites and accelerating equipment installation work. This robot can draw line segments with accuracy of 1 mm or less on floors and walls of the construction site in cooperation with a three-dimensional measuring instrument. In addition, it is possible to write arbitrary characters such as position information of drawn line segments. The marking robot is mainly composed of a marking mechanism and a wall traveling mechanism. The marking mechanism for drawing line segments and characters has been realized by a combination of a XY plotter and an ink jet printer. The small printer head is attached to the XY plotter instead of a pen. And a prism target for a total station is located just above the nozzle of the printer head. By moving the plotter to the four corners of its movable range and measuring its position, the command value of the cooperative operation of two axes of the plotter necessary for drawing an arbitrary line segment and characters is calculated. On the other hand, by combining a vacuum suction device and a four wheel drive mechanism, the wall traveling mechanism which makes the marking robot of about 50 kg run on a concrete wall has developed. In this report, we will report on structure of the marking robot, cooperation method of the robot and three - dimensional measuring instrument, and application case of the robot to construction site.

Keywords: Marking robot, Three-dimensional measuring, Total station, XY plotter, Ink jet printer, Wall traveling mechanism