Development of a Construction Robot for Marking on Ceiling Boards
Kouetsu Tanaka*, Makoto Kajitani**, Chisato Kanamori** and Yasunori Abe*
*Research and Development Center, Shinryo Corporation, 41 Wadai, Tsukuba-shi, lbaraki 300-42, Japan
**Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan
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.