Mobile construction robot

A smart drilling machine for performing perforation through control by a controller, the smart drilling machine comprising:

• a drill;
• a position adjustment device configured to three-dimensionally move the drill for perforation;
• an optical marker rigidly fixed to and spaced apart from the drill, the optical marker being configured to allow an external tracker station fixedly positioned on a floor surface of a construction site to acquire location information of the smart drilling machine and the drill through tracking the optical marker;
• a moving device configured to support the drilling machine on the floor surface and to move the position adjustment device parallel to the floor surface;
• and
• an ascending/descending device disposed between the moving device and the position adjustment device and configured to adjust a height of an initial position of the drill,
• wherein the position adjustment device moves the optical marker into positions of multiple different work regions of the drilling machine in order to sequentially acquire location information of the multiple different work regions of the drilling machine through tracking the optical marker and transmit the acquired location information to the controller by the tracker station, such that by using the transmitted location information of the multiple different work regions, the controller converts drilling machine coordinates into design space coordinates and recognizes an orientation of the drilling machine and a perforable point of the drilling machine.

A method of controlling a smart drilling system, the method comprising:

• communicatively connecting a tracker station fixedly positioned on a floor surface of a construction site and a drilling machine;
• mapping, via a controller, a desired perforation to a site space at a perforation location;
• acquiring a reference point location in the site space;
• acquiring location information of the drilling machine and a drill by tracking an optical marker rigidly fixed to and spaced apart from the drill;
• transmitting the acquired location information of the drill and the drilling machine to the controller;
• moving the drilling machine into positions of multiple different work regions of the drilling machine;
• sequentially acquiring, by the tracker station, location information of the multiple different work regions of the drilling machine by tracking the optical marker;
• transmitting, by the tracker station, the acquired location information to the controller;
• converting drilling machine coordinates into desired perforation coordinates and recognizing an orientation of the drilling machine, using the transmitted location information of the multiple different work regions;
• recognizing, by the controller, a perforable point at a current position of the drilling machine;
• and
• performing perforation at the perforable point via the drill of the drilling machine.