High Accuracy Position Marking System Applying Mobile Robot in Construction Site

Abstract

This paper describes a development of high accuracy position marking system applying the mobile robot and survey system. In the construction process of foundation works, the initial marking on the base floor is very important work to set and built the construction materials exactly. However, the marking errors were often reported by human error of survey worker. This trouble causes not only the lack of construction confidence but also the decrease of work efficiency. In order to accomplish high accuracy marking and to reduce the human errors, the automated marking system was developed using mobile robot and two survey system with laser range finder and tracking total station. In this mobile robot, the marking device was installed at robot center and the error between right target point and mark stamp point could be modified exactly. Using this marking system, high accuracy position marking on the base floor could be executed. The marking process controlled by the automatic operation, the high efficient and the high accuracy foundation work, was performed.

Improvement of Automated Mobile Marking Robot System Using Reflectorless Three-Dimensional Measuring Instrument

“…This can direct a measuring laser parallel to the floor in the direction of the designated marking position and measure the distance to an object on which the laser spot is projected. Although it cannot collimate and track reflector such as prism target, it is less expensive than a motor driven total station used in previous studies already reported [4][5][6][7].…”

“…Prior studies on the efficiency improvement for the marking work by using these instruments have already been reported. They are roughly divided into researches on support technology aimed at improving efficiency of marking manually [1][2][3] and those on automated marking robots [4][5][6]. If this work is fully automated with marking robots, construction workers will be able to concentrate on installing building materials and productivity will increase.…”

“…Several studies on automated mobile marking robot have already been done. Inoue et al reported a system that combines a marking robot having a cross-mark stamp and a total station [4,5]. It is roughly navigated a designated marking position by using a laser range finder and its position and orientation is measured by the total station.…”

“…The transformed coordinate of the point defined in the g-code data is calculated following equation(5). The values used in this equation are already calculated in equation(2)-(4).…”

Automated Measurement and Estimation of Concrete Strength by Mobile Robot with Small-Sized Grinding Drill

“…In order to enable automatic perforating and detecting the concrete strength, the mobile robot that remodelled Omni-wheel vehicle was produced with the drill body [3]. The outline of mobile robot is indicated Figure 2.…”