System for installing floor finishing materials using autonomous driving robot

Patent metadata

Field	Value
Publication number	US-12007775-B2
Application number	US-202117335383-A
Country	US
Kind code	B2
Filing date	Jun 1, 2021
Priority date	Jun 2, 2020
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

The present disclosure relates to a system for installing a floor finishing material using an autonomous driving robot. According to the present disclosure, there is provided a system for installing a floor finishing material using autonomous driving including: a floor surface cleaning and adhesive application robot that cleans a floor surface and applies adhesive while moving with autonomous driving; a finishing material installation robot that installs the floor finishing material on an upper side of the adhesive surface; a finishing material loading robot that loads the floor finishing material loaded in an installation site, on a pallet; a finishing material transport robot that transports and delivers the loaded floor finishing material to the finishing material installation robot; and a 3D positioning device that sets a position thereof as an origin and recognizes positions of a plurality of active markers installed in a work site.

First claim

The invention claimed is:

1. A system for installing a floor finishing material using autonomous driving comprising:
a floor surface cleaning and adhesive application robot that cleans a floor surface on which a floor finishing material is installed and applies adhesive with a constant thickness for fixing the finishing material while moving with autonomous driving;
a finishing material loading robot that loads the floor finishing material loaded on a pallet;
a finishing material transport robot that transports and delivers the loaded floor finishing material from the finishing material loading robot;
a finishing material installation robot that receives the floor finishing material from the finishing material transport robot and installs the floor finishing material on an upper side of the adhesive surface applied to the cleaned floor surface with the constant thickness;
a charging robot that is docked with at least one of the finishing material installation robot, the finishing material transport robot, and the finishing material loading robot to supply electricity; and
a 3D positioning device that sets a position thereof as an origin and recognizes positions and orientation information of a plurality of active markers installed in a work site using a vision-included distance measurement sensor,
wherein each of the floor surface cleaning and adhesive application robot, the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot has a different identification tag, an autonomous driving vision sensor, an obstacle recognition vision sensor, a floor recognition sensor and an autonomous driving system,
wherein the autonomous driving vision sensor recognizes the different identification tags installed in the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot, and positions of the active markers, and
wherein the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot recognize a surrounding environment through the floor recognition sensors to prevent deviation from a current work environment.

2. The system for installing a floor finishing material according to claim 1 , wherein the floor recognition sensor is installed on a lower side of each of the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot.

3. The system for installing a floor finishing material according to claim 2 ,
wherein the floor recognition sensor includes at least one of vision, lidar, and radar, and
wherein the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot recognize the surrounding environment through the floor recognition sensors to prevent deviation from the current work environment.

4. The system for installing a floor finishing material according to claim 2 , wherein the obstacle recognition vision sensor includes at least one of vision, lidar, and radar, and the obstacle recognition vision sensor recognizes an obstacle located in front of each of the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot.

5. The system for installing a floor finishing material according to claim 1 , wherein the finishing material loading robot or the finishing material installation robot includes
a central shaft on a lower side of which a rotation portion is mounted;
a horizontal arm configured to extend to left and right by being coupled to the central shaft;
a vertical arm that is attached to one side surface of the horizontal arm and operates in a vertical direction to install the floor finishing material on the floor;
a balance auxiliary weight that is installed on the other side surface of the horizontal arm to maintain a balance of the horizontal arm;
a plurality of floor photographing sensors that are installed to face a floor direction at each corner of a lower surface of the vertical arm to recognize a shape of the floor surface on which the adhesive is applied with a constant thickness; and
a work vision sensor that is installed on one side surface of the vertical arm to move and install the floor finishing material.

6. The system for installing a floor finishing material according to claim 5 , wherein the finishing material installation robot recognizes the shape of the floor surface, on which the adhesive is applied with the constant thickness, present in an image photographed from the floor photographing sensor and positions the floor finish material such that the corners of the floor finish materials, which are installed with centering on an initial reference coordinate system of a building, are in contact with each other.

7. The system for installing a floor finishing material according to claim 1 , wherein the 3D positioning device sets a position thereof as an origin, measures a relative position and orientation information between a plurality of active markers installed in the work site using a vision-included distance measurement sensor, and transmits the relative position and the orientation information for installing the floor finishing material to each of the floor surface cleaning and adhesive application robot, the finishing material installation robot, the finishing material transport robot, the finishing material loading robot, and the charging robot, through an external integrated management module.

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Lee Seung Yeol
• Kim Sang Ho
• Lee Yong Seok

Classifications

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title

• G05D1/661

  Docking at a base station (delivering or retrieving payloads G05D1/667) · CPC title

• E04F21/22 Primary

  of single elements, e.g. flooring cramps {; flexible webs (cutting tiles B28D1/225)} · CPC title