Construction robot with conversion interface, part system and method for arranging part system on conversion interface

Abstract

The invention relates to a construction robot (10), in particular for carrying out construction work, comprising a robot hand (18) and a switching interface (21), which is arranged on the robot hand (18) and is configured for releasably arranging at least one element, in particular a tool (24) and / or a component to be treated, on the robot hand (18). By means of a testing device (104) configured for quality testing of the conversion interface (21), safety risks when using the construction robot (10) can be minimized.

Description

[0001] The present invention relates to a construction robot, in particular a construction robot for performing building construction work, the construction robot comprising a manipulator and a conversion interface, the conversion interface being arranged on the manipulator and configured to releasably arrange at least one element (such as a tool and / or a part to be processed).

[0002] In order to be able to perform complex construction tasks, different tools are often required. This is particularly the case when construction tasks are to be performed using a construction robot. In order to arrange construction elements on a ceiling, for example, first marks are made on the ceiling with the aid of a marking tool, thereby indicating the positions at which the construction elements are to be arranged and / or the positions of holes, for example, which must be drilled for fastening elements for fastening the construction elements. These holes can then be drilled using a drilling tool. The necessary fastening elements can then be assembled using an assembly tool. Finally, using a mounting tool, the construction elements can be mounted on the fastening elements.

[0003] In order to be able to install different elements (e.g., tools) on the construction robot and use these elements, the construction robot has a conversion interface. The conversion interface is configured to releasably arrange at least one element (e.g., a tool to be used). The element to be installed can have a connection part complementary to the conversion interface.

[0004] Due to the harsh environmental conditions at construction sites, especially building construction sites, such transition interfaces are often subject to severe wear and tear. Dust, dirt or the like may also prevent components from being correctly installed on the transition interface.

[0005] If the element is not properly mounted on the conversion interface, this poses a particular safety risk. Thus, for example, it is conceivable that the element will unexpectedly become detached when dropped and cause damage. In the worst case, injuries may occur.

[0006] It is therefore an object of the present invention to provide means and methods which allow a construction robot to use different elements safely.

[0007] This object is achieved by a construction robot, specifically a construction robot for performing construction work, the construction robot comprising a manipulator, a conversion interface and a testing device, the conversion interface being arranged on the manipulator and configured to releasably arrange at least one element, in particular a tool and / or a part to be processed, and the testing device being configured to perform quality testing on the conversion interface.

[0008] The quality test may, for example, include testing of a tool arranged on the conversion interface for wear, functionality and / or incorrect seating.

[0009] Thus, any safety risks with respect to the transition interface may be monitored before, during, and / or after an element (eg, a tool) is installed on and / or removed from the transition interface.

[0010] This also allows continuous testing of the tool interface, so that malfunctions of the construction robot can be avoided and a higher system availability of the construction robot can be achieved.

[0011] For example, before installing the component, the conversion interface may be inspected for dust or dirt. If such a safety risk is found, for example, a warning signal may be given, the safety risk may be eliminated (e.g., dirt may be removed), and / or other measures indicating and / or mitigating the safety risk may be taken.

[0012] A "tool" may also include an electric machine tool, such as a machine for drilling, cutting (eg a saw or angle grinder), grinding, marking, measuring or the like. The tool may be configured in particular for machining rock (eg concrete).

[0013] It is also conceivable that the conversion interface is configured so that other types of elements can also be mounted on the conversion interface. Thus, for example, it is conceivable that at least one component to be treated (e.g., a ceiling element, a wall element and / or an anchor) can be releasably arranged on the conversion interface.

[0014] The conversion interface is arranged on the manipulator. According to the elements arranged on the conversion interface, different construction tasks can be performed at different positions and / or in different orientations by means of the manipulator.

[0015] The use of such a construction robot for carrying out construction work at a building construction site is particularly advantageous.

[0016] While at an excavation site it is possible to set up barrier areas which cannot be entered by persons during the execution of the construction work, at a construction site this possibility does not usually exist or exists only to a very limited extent. Furthermore, at a construction site a wider range of different components, in particular tools, are usually used than at an excavation site. As a rule, components have to be replaced more frequently. Therefore, at a construction site the probability of a defective connection of a component to a conversion interface and thus the need to prevent such a safety risk may be higher than at an excavation site.

[0017] The construction robot can have at least one storage magazine which is configured to provide at least one element, in particular a tool and / or a component to be processed, for use by the construction robot.

[0018] Preferably, the storage cassette can be configured to provide elements for being arranged on the conversion interface. For this purpose, the storage cassette can be arranged on the construction robot so that the conversion interface can be brought to the elements held in the storage cassette, in particular by means of a manipulator. Preferably, the storage cassette can have several holding points. The holding points can then hold various tools and / or other elements required for the construction task, in particular parts to be processed. In particular, after using the tool, it is also conceivable that the tool that is no longer needed is stored in one of the holding points of the storage cassette and is detached from the conversion interface.

[0019] The testing device may include an optical testing component. The optical testing component may include an image capturing unit, such as a color image camera, a black / white camera, and / or a 3D camera. The optical testing component may be configured to detect optical data of the conversion interface. The optical testing component may be arranged on a manipulator and / or a mobile platform of the construction robot.

[0020] The test device may further comprise a light source. Thus, the recording conditions during the capture of the optical data may be standardized. This may facilitate a subsequent analysis of the optical data. It is also conceivable that the light source is configured to project at least one pattern onto the conversion interface. Thus, for example, a strip-like light image may be captured, from which depth information may be derived.

[0021] It is also conceivable that a pre-existing image capture unit is also used as an optical test component. Thus, for example, it is conceivable that the construction robot already has an image capture unit on the manipulator. Such an image capture unit can then also be used as an optical test component of the test device. In particular in this case, it may be advantageous if a light deflection unit, for example a reflector, is arranged on the construction robot. The manipulator can then be brought into such a position that the image capture unit arranged thereon captures, via the reflector, the optical data of a conversion interface, which is in particular also arranged on the manipulator. This multiple use of the same image capture unit can reduce the production costs of the construction robot. In addition, the masses moved by the manipulator and the associated inertia can be kept low.

[0022] In order to analyze the optical data, the construction robot can have an image processing logic that is configured to receive optical data, in particular image data, from the optical test component and determine at least one quality feature of the conversion interface based on the optical data. The quality feature can, for example, correspond to a sufficient absence of dust, dirt and / or wear phenomena (such as break points or abrasion points). In general, the quality feature can correspond to a sufficient consistency of the optical data with older and / or standardized optical data of the conversion interface. In other words, the quality feature can be configured to indicate whether the conversion interface has any deviations from nominal values ​​within a defined framework. The quality feature can here relate to the entire conversion interface or only to a portion of the area of ​​the conversion interface.

[0023] It is also conceivable that the image processing logic is at least partially formed on a remote computer system, in particular a cloud-based computer system.The analysis of the optical data can then be continuously improved by collecting optical data from a plurality of construction robots.

[0024] Alternatively or additionally, the construction robot can also be configured to determine at least one quality feature of the storage cassette. To this end, the optical test component can also be configured to detect optical data of the storage cassette. Thus, safety risks to the storage cassette caused by dust, dirt, wear, incorrectly held elements in the holding points or the like can also be detected. Particularly preferably, it can be provided that the same image capture unit as the test component is used.

[0025] It is also conceivable that the test device comprises a mechanical test component. This allows a mechanical test to be performed by using mechanical properties of the tool interface, such as force and / or pressure, in particular maximum holding force, tensile stress and / or contact pressure, expansion, distance or the like. Such a mechanical test can be performed as an alternative to or in addition to an optical test. It may be particularly advantageous here that such a test using a mechanical test component can also test other safety risks that cannot be achieved using an optical test.

[0026] In particular, it is conceivable that the mechanical test component is configured to generate a mechanical resistance so that the element held in the storage cassette can only be removed by overcoming the resistance. The resistance may correspond to the necessary minimum holding force. Preferably, the resistance may exceed the weight force of the element held in the storage cassette.

[0027] When different types of components are to be held in the storage cassette, the resistance force may be greater than the maximum weight force of all expected types of components to be held. The resistance force may in particular be at least twice the weight force.

[0028] This ensures that the component can be removed from the magazine only when the resistance can be compensated or overcompensated. If the removal is carried out such that the component is connected to the conversion interface, which is then moved away from the magazine, for example by means of a robot, it can be ensured that the component is arranged on the conversion interface at least with a maximum holding force, which corresponds at least to the resistance.

[0029] Thus, a sufficiently firm seating of the element on the transition interface can be tested directly by means of the mechanical testing means. Before an element (eg a tool) is used to perform a construction task, correct seating can in particular be ensured.

[0030] The mechanical test component may be formed by a portion of the storage magazine, a portion of the robot and / or a portion of the moving platform.

[0031] The resistance can be generated magnetically. For this purpose, the test component can have a magnet. For example, the magnet can be arranged at the holding point of the storage cassette. The element can have a magnetizable area. When the element is held at the holding point, the magnetizable area can therefore be attracted by the magnet with a magnetic force corresponding to the resistance. In order to remove the element from the holding point, the magnetic force and the resistance must be overcome, and in some cases the weight of the element must also be added.

[0032] Alternatively or additionally, it is also conceivable that the test component has a latching mechanism. The latching mechanism can be configured so that latching can be achieved by applying a minimum release force. The minimum release force can then form the above-mentioned resistance.

[0033] It is also advantageous here that the mechanical test component requires no further electrical components, in particular no additional sensors, power supplies or data lines for its power supply. During and in particular by successful removal of the element, the switching interface can be tested automatically particularly easily.

[0034] Alternatively or in addition to at least one of the above-mentioned test components, the test device may include an electrical test component. In particular, the electrical test component may be configured to detect electrical quality characteristics of the conversion interface. If the conversion interface is configured for example to transmit electrical energy and / or data, the electrical test component may be configured to test the current flowing through the wires used for transmission. Resistance or the like may also be tested as a quality characteristic.

[0035] Such an electrical test can also be easily repeated. For example, such an electrical test can continuously monitor, in particular also during the execution of a construction task, whether the components arranged on the conversion interface are correctly electrically connected to the conversion interface. This can then indicate whether the components as a whole are correctly seated on the conversion interface.

[0036] The invention also relates to a parts system comprising elements, in particular tools and / or components, wherein the elements have a connection portion which is configured for releasable connection to a conversion interface of a construction robot of the above-mentioned type. Such a parts system can be releasably arranged on a conversion interface, for example after testing the conversion interface. Due to the possibility of testing, safety risks (for example accidental detachment of an element from the conversion interface) can be reduced or avoided.

[0037] The parts system and / or the construction robot can have a connection part testing device, which is configured to perform a quality test on the connection part. Preferably, the connection part testing device comprises an optical, electrical and / or mechanical testing component, in particular a testing component according to one of the above-mentioned types.

[0038] The scope of the present invention also includes a construction robot, the construction robot comprising:

[0039] A parts system and a connection part testing device, wherein the connection part testing device is configured to perform a quality test on the connection part.

[0040] With the aid of the connection part testing device, the quality characteristics of the connection part can be tested. Based on the determined quality characteristics, measures can be triggered as required. Here too, the safety risks during the use of the element on the construction robot can be reduced.

[0041] It is conceivable that the connection part testing device is at least partially located on the manipulator, on the mobile platform and / or on the storage magazine. The connection part testing device can correspond to the testing device, be at least a part of the testing device and / or also use a part of the testing device.

[0042] The present invention also relates to a method for arranging elements, in particular tools and / or components, on a conversion interface of a construction robot of the above type. The method comprises at least the following steps:

[0043] a) testing the quality characteristics of the component systems and / or the transition interfaces with the aid of connection part test devices and / or test devices, and

[0044] b) Arrange the parts system on the conversion interface.

[0045] Quality characteristics may, for example, indicate the degree of wear, dirt, dust and / or the presence or absence of components.

[0046] The test can be performed before, during and / or after the arrangement. In particular, multiple tests are also conceivable. Depending on the results of the test, measures can then be taken. For example, if it is detected that the component is not installed correctly on the conversion interface, the installation attempt can be repeated until the component is installed correctly. Thus, the safety risk can be reduced again.

[0047] The method can provide that at least one test is performed using a mechanical test component and at least one test is performed using an optical test component, so that different types of safety risks and / or similar safety risks can be identified with a higher probability, and these safety risks can then be mitigated. For example, the wear of the tool interface can first be optically tested; then, the seating of the element held on the tool interface can be mechanically tested.

[0048] It is also conceivable to perform the test by means of an optical test component, wherein the conversion interface is moved into at least two different positions relative to the optical test component. This can help to distinguish between foreground data and background data during subsequent analysis of the captured optical data. In general, this can support the analysis of the optical data.

[0049] The method may also include storing indicators of quality characteristics of the cassette such as wear, abrasion, and / or the presence or absence of tools and / or components.

[0050] In particular, it is conceivable to use the same image capture unit to test the conversion interface, the parts system and / or the storage magazine.

[0051] The construction robot may be designed for performing construction work at a building construction site. The construction robot may be arranged for performing construction work on ceilings, walls and / or floors. The construction robot may be configured for marking, drilling, cutting, chiseling, grinding and / or fitting construction elements; in particular, corresponding tools may be releasably arranged thereon.

[0052] The construction robot has a manipulator. The construction robot may have a mobile platform. The manipulator may be arranged on the mobile platform.

[0053] The manipulator may be formed as a robot arm. The manipulator may also have a lifting device. The lifting device may increase the size of the total volume that the manipulator can reach. The manipulator may have at least three degrees of freedom. In particular, the manipulator may have at least six degrees of freedom.

[0054] The mobile platform may include a wheeled chassis and / or a crawler chain chassis. The mobile platform may have at least two degrees of freedom. The construction robot may have a total of at least ten degrees of freedom.

[0055] The image processing logic may be configured as a computer unit and / or may be part of a computer unit. The computer unit may have a processor, a memory unit and / or a program code that may be executed by the processor. The processor may have one or more sub-processors. The program code may be configured to implement the described method on the construction robot.

[0056] Further features and advantages of the invention become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings, which show details essential to the invention, and from the claims. The features shown therein do not have to be regarded as true to scale, but are presented in a manner that enables the special features according to the invention to be clearly visualized. In variants of the invention, the various features may be realized individually by themselves or collectively in any combination.

[0057] Exemplary embodiments of the invention are illustrated in the schematic drawings and explained in detail in the following description.

[0058] In the attached picture:

[0059] Figure 1 A perspective view of a construction robot is shown;

[0060] Figure 2 and Figure 3 A side view of a manipulator with a conversion interface is shown, by means of which a tool is removed from a storage magazine with a mechanical test component;

[0061] Figure 4 and Figure 5 shows top views of the connection portion and the transition interface, both of which show signs of wear;

[0062] Figure 6 and Figure 7 A manipulator, a conversion interface, a storage cassette, and a testing device are each shown in a three-dimensional diagram; and

[0063] Figure 8 One method is shown.

[0064] In the following description of the figures, the understanding of the invention is facilitated by the use of the same reference symbols in each case for identical or functionally corresponding elements.

[0065] Figure 1 A construction robot 10 is shown having a chassis 12 designed as a crawler-chain chassis, a control space 16 formed in a housing 14, and a manipulator 18 arranged on top of the housing 14. The manipulator includes a lifting device 17 for vertical displacement and a multi-axis controllable arm 19.

[0066] An end effector 20 having a conversion interface 21 is located at the free end of the arm 19 .

[0067] A tool 24 , in particular a rock drilling machine tool with a dust extraction device 26 , is arranged on the switching interface 21 .

[0068] In order to releasably arrange the tool 24 on the conversion interface 21, the tool has a connecting portion 22. The conversion interface 21 is configured for releasable connection with the connecting portion 22 and thus also with the tool 24.

[0069] The robot 10 may include additional devices such as prisms, paint spray devices, range finders, position and / or orientation determination logic, cameras, and / or the like, although for simplicity only the following are shown. Figure 1 These devices are not shown in FIG.

[0070] The construction robot 10 is designed to perform construction tasks at a construction site, particularly at a building construction site, such as drilling work in ceilings and walls.

[0071] The construction robot 10 further includes a storage magazine 100. The storage magazine 100 has a plurality of storage locations 102. Elements (eg, tools, such as the tool 24) and / or parts required to perform a construction task can be stored at the storage locations 102.

[0072] In addition to the manipulator 18 for carrying out the construction task assigned to the construction robot 10 , the construction robot 10 also has a computer unit 27 which is arranged in the control space 16 , in particular inside the housing 14 . The computer unit 27 comprises a memory unit 28 .

[0073] The computer unit 27 is equipped with an executable program code. The program code can be stored in the memory unit 28 so as to be retrievable and executable. The program code can be configured to control the manipulator 18 so that one of the elements of the storage cassette 100 can be removed from and / or stored on one of the storage locations 102 of the storage cassette 100 in particular.

[0074] In addition, the construction robot 10 has a testing device 104, in particular on the storage cassette 100. The testing device 104 is configured to perform a quality test on the conversion interface 21. For this purpose, the testing device has an optical testing component 106. The optical testing component 106 includes an image capture unit in the form of a color image camera. The image capture unit can be oriented vertically upward, for example, so that when the end effector 20 is brought to a position above the optical testing component 106, the image capture unit can capture an image of the conversion interface 21. In the computer unit 27, an image processing logic 108 is implemented, in particular by means of a program code, which is configured to compare one or more of the images with a nominal depiction of the conversion interface and thereby identify possible faults (such as wear phenomena, dust or the like). The image processing logic 108 is part of the testing device 104.

[0075] Described below Figures 2 to 7 Components of alternative embodiments are shown. Unless otherwise stated, these components may be used on the construction robot 10 described above as alternatives to their corresponding components. In particular, it is conceivable to use different types of alternative components described below in conjunction with the construction robot 10.

[0076] Figure 2 and Figure 3 A storage magazine 100 with a storage location 102 is schematically shown.

[0077] An element, in particular a tool 24 , is arranged at a storage location 102 .

[0078] The tool 24 has a connection part 22 for releasable connection to a conversion interface 21 arranged on an end effector 20 of the robot 18. The connection part 22 has a magnetizable plate, for example made of magnetizable steel.

[0079] The element, ie the tool 24 , and the connecting part 22 form a part system 50 .

[0080] The mechanical test component 106a is arranged on the storage magazine 100. The mechanical test component 106a has a magnet 107. The magnet 107 generates a resistance FW, which is Figure 2 and Figure 3 In the illustrated case, it points downwards and supplements the weight force FG to keep the tool 24 in the storage position 102. In order to pick up the tool 24, the manipulator 18 must therefore apply a release force FL that corresponds at least to the sum of the resistance force FW and the weight force FG and that is in the opposite direction to the resultant of these two forces FW, FG. The conversion interface 21 is configured so that, when the element or tool 24 is correctly arranged on the conversion interface 21, at least the necessary release force can be transmitted so that, when properly arranged, the tool can be successfully removed from the storage position 102.

[0081] When the end effector 20 is moved vertically upward, at least a release force FL is generated, so that the tool 24 or the part system 50 can be removed from the storage position 102 .

[0082] Figure 3 Shown with Figure 2 A corresponding situation, but with the difference that the conversion interface 21 is contaminated by dust 110. As a result, the tool 24 cannot be properly connected to the conversion interface 21 via the connecting part 22. In particular, the necessary release force FL can no longer be transmitted via the conversion interface 21 to the connecting part 22.

[0083] When the end effector 20 moves vertically upward, the connecting portion 22 is disengaged from the tool interface 21. Therefore, the tool 24 or the part system 50 cannot be removed from the storage position 102.

[0084] As a result, the tool 24 remains in the storage position 102 , whereby safety risks (eg accidental detachment of the connecting part 22 from the conversion interface 21 during the performance of a construction task) can again be reduced or even avoided.

[0085] Figure 4 and Figure 5 The connecting portion 22 ( Figure 4 ) and conversion interface 21( Figure 5 ), both of which show signs of wear. For clarity, Figure 4 and Figure 5 The wear-affected points in are highlighted with ellipses.

[0086] Such wear can be detected with the aid of an optical test component, an exemplary embodiment of which will be explained in more detail below.

[0087] Figure 6 The robot arm 18 is shown with an end effector 20 , on which a changeover interface 21 is again formed. A testing device 104 is arranged on a magazine 100 having a plurality of storage locations 102 .

[0088] The test device 104 has an optical test component 106. The optical test component 106 comprises, in particular, a color imaging camera.

[0089] Figure 6 The field of view 112 of the optical test component 106 is schematically shown. Figure 6 1. With the position of the manipulator 18 shown, the optical testing component 106 can therefore capture images of the conversion interface 21. These images can be analyzed in the image processing logic of the testing device 104, for example as described above, so that any safety risks can be identified.

[0090] Figure 7 Another manipulator 18 is shown with an end effector 20, on which a plurality of actuators corresponding to the embodiment of the present invention are arranged as well as a conversion interface 21. Figure 6 Another optical testing component 106 of the above-mentioned optical testing component 106.

[0091] The optical testing component 106 includes a color imaging camera.

[0092] exist Figure 7 In the illustrated position of the robot 18 , the field of view 112 of the optical test component 106 includes the connection portion 22 of the tool 24 located at the storage position 102 .

[0093] The connection part test device 114 is composed of the optical test component 106 and the computer unit 27 (see Figure 1 To this end, the computer unit 27 is configured to analyze the image provided by the optical test component 106 regarding the deviation of the connection part 22 from the nominal connection part and thereby identify any safety risks in the connection of the connection part 22 with the conversion interface 21.

[0094] The tool 24 and its connecting part 22 then form a component system 50 .

[0095] Figure 8 A method 1000 for arranging a system of parts on a conversion interface of a construction robot of the type described above is shown.

[0096] The method 1000 is explained in more detail using the reference numerals introduced above for the components of the construction robot 10. For example, the construction robot 10 forming the basis of the present description has a test device 102 and a connection part test device 114, which has a test device according to Figure 2 and Figure 3 The mechanical test component 106a of the connection part test device has a Figure 7 The optical test component 106 is provided.

[0097] In a first method stage 1010, the connection part 22 of the tool 24 and thus the component system 50 is tested for deviations from nominal values. In particular, the quality properties of the connection part 22 are tested with respect to the presence of dirt (eg dust). In the event of a fault, a fault correction 1040 is performed.

[0098] First, in a coupling phase 1020, the conversion interface 21 is moved upward to the connecting part 22 of the part system 50 by means of the robot 18. The conversion interface 21 is coupled to the connecting part 22 and is thus arranged on the part system 50, in particular on the tool 24.

[0099] In a subsequent test phase 1030 , it is tested whether the tool 24 is correctly coupled. To this end, the manipulator 18 and therefore the switching interface 21 are moved away from the magazine 100 . During this process, the release force FL is determined.

[0100] If the release force FL is below the minimum release force expected according to the resistance force FW and the tool type, this indicates that the connecting part 22 or the tool 24 is incorrectly coupled to the conversion interface 21. In this case, fault correction 1040 is also performed.

[0101] Fault correction 1040 may consist of a plurality of steps. In particular, fault correction may include a first fault handling, wherein first an attempt is made to clean the conversion interface 21 or the connecting part 22 by means of a cleaning device (eg a brush roll).

[0102] If a subsequent test fails again, a second fault handling may be provided during which an indicator signal is sent to the user of the construction robot 10 to manually correct the fault.

[0103] It is conceivable, for example, to store at least one of the test results in a memory for documentation purposes and / or to transmit it to another computer unit (eg a cloud-based computer unit) for storage and / or further processing there.

[0104] Further tests are also conceivable. For example, an electrical test of resistance may be performed in order to check whether one or more electrical connections between the conversion interface 21 and the connection part 22 have been properly established.

[0105] If both tests in phases 1020 , 1030 are successful, then in an execution phase 1050 the desired construction task is performed with the tool 24 positioned on the tool interface 21 .

[0106] For example, one or more holes may be drilled using a tool 24 configured as a rock drilling machine tool.

Claims

1. A construction robot (10), in particular a construction robot for performing building construction work, the construction robot comprising: - a manipulator (18), a conversion interface (21) which is arranged on the manipulator (18) and is configured to releasably arrange at least one element, in particular a tool (24) and / or a part to be processed, on the manipulator (18), and - a testing device (104), which is configured to perform a quality test on the conversion interface (21) and / or the connection part testing device.

2. The construction robot according to the preceding claim, characterized in that The construction robot (10) has at least one storage magazine (100), which is configured to provide at least one element, in particular a tool (24) and / or a part to be processed for use by the construction robot (10), wherein preferably, the storage magazine (100) is configured to provide the element for arrangement on the conversion interface (21).

3. The construction robot according to any one of the preceding claims, characterized in that: The test device (104) includes an optical test component (106).

4. A construction robot as claimed in any one of the preceding claims, characterized in that: The construction robot (10) has an image processing logic which is configured to receive optical data, in particular image data, from the optical test component (106) and to determine at least one quality feature of the conversion interface (21) based on the optical data.

5. A construction robot as claimed in any one of the preceding claims, characterized in that: The test device (104) includes a mechanical test component (106a).

6. A construction robot as claimed in any one of the preceding claims, characterized in that: The mechanical testing component (106a) is configured to generate a mechanical resistance (FW) so that the component held in the storage cassette (100) can be removed only by overcoming the resistance (FW).

7. A construction robot as claimed in any one of the preceding claims, characterized in that: The test device (104) includes electrical test components.

8. A parts system (50), the parts system comprising: - An element, in particular a tool (24) and / or a component, wherein the element has a connecting part (22) which is configured for releasable connection to a conversion interface (21) of a construction robot (10) as claimed in any of the preceding claims.

9. A method (1000) for arranging a component system (50) as claimed in the preceding claim onto a conversion interface (21) of a construction robot (10) as claimed in any one of claims 1 to 7, the method comprising at least the following steps: a) testing the quality characteristics of the component system (50) and / or the conversion interface (21) by means of a connection part testing device (114) and / or a testing device (106), and b) arranging the component system (50) on the conversion interface (21).

10. The method according to the preceding claim, wherein: At least one test is performed by means of a mechanical test component (106a), and at least one test is performed by means of an optical test component (106).

11. The method according to one of the two preceding claims, characterized in that The test is performed by means of an optical test component (106), wherein the switching interface (21) is moved relative to the optical test component (106) into at least two different positions.

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