Autonomous or manual tool, system and method for at least partially automatically machining object

Abstract

The invention is based on an autonomous or manual tool (10b), in particular a robot, having a machining unit (12b), in particular a drilling unit, having an advancing movement unit (14b) for an advancing movement of the machining unit (12b), and having a control unit (16b) at least for actuating the machining unit (12b). According to the invention, the tool (10b) has a detection unit (30b) arranged on the advancing movement unit (14b) for detecting at least one positioning reference element (22b), and the control unit (16b) is provided for determining the position and orientation of at least one part of the machining unit (12b) at least on the basis of the positioning reference element (22b) detected by means of the detection unit (30b).

Description

Background Art

[0001] An autonomous or manually-operated working implement has been proposed, which has a processing unit, a forward movement unit for the forward movement of the processing unit and at least a control unit for controlling the processing unit. Summary of the Invention

[0002] The present invention is based on an autonomous or manually-operated working implement, in particular a robot, which has a processing unit, in particular a drilling unit, a forward movement unit for the forward movement of the processing unit and at least a control unit for controlling the processing unit.

[0003] It is proposed that the working implement has a detection unit arranged on the forward movement unit for detecting a positioning reference element, wherein the control unit is set to determine the position and orientation of at least a part of the processing unit at least on the basis of the positioning reference element detected by means of the detection unit.

[0004] By means of such a configuration of the working implement, particularly precise positioning of the processing unit can be achieved. Advantageously, it is possible to precisely and / or reliably determine the position and orientation in the working environment of the processing unit. Particularly precise autonomous processing of an object can be achieved. Advantageously, collisions between the processing unit and objects in the working environment of the processing unit can be resisted particularly reliably.

[0005] The working implement is preferably configured as a processing robot, in particular a construction site robot. Particularly preferably, the working implement is configured as a drilling robot. However, alternatively, it is also conceivable that the working implement is configured as a construction site robot different from a drilling robot, for example as a painting robot, as a window cleaning robot, as a floor cleaning robot, as an outdoor robot, for example a topsoil loosening robot, as a hedge trimming robot, as a snow removal robot, as a collection robot particularly for collecting leaves, branches or the like, as a combination of these robots, or as other working implements considered meaningful by a person skilled in the art. The working implement is particularly configured differently from a stationary working implement. Preferably, the working implement is configured differently (in particular differently from an industrial robot) from an implement fixedly installed in a position. In particular, the working implement is configured to move forward independently. "Configured" should in particular be understood as being specifically programmed, specifically designed and / or specifically equipped. "An object is configured for a determined function" should in particular be understood as meaning that the object satisfies and / or implements the determined function in at least one application and / or operating state. The working implement is preferably configured as a mobile working implement. Preferably, the working implement is configured to be able to walk. However, alternatively, it is also conceivable that the working implement is configured as a drone.

[0006] The working implement is preferably arranged for at least partially automatically machining an object. In particular, the working implement is preferably arranged for at least partially automatically producing a drill hole in the object. The working implement is preferably arranged for independently machining the object, in particular for independently producing a drill hole in the object. "Arranged" should in particular be understood as being specifically configured, specifically designed and / or specifically equipped. "An object is arranged for a defined function" should be understood to mean that the object fulfills and / or implements the defined function in at least one application and / or operating state. Preferably, the object is a building component, such as a wall, ceiling, floor, facade, etc. However, alternatively, it is also conceivable that the object is different from a building component, such as (in particular stationary, preferably static) furniture or the like.

[0007] The machining unit preferably has a manipulator unit. In particular, the machining unit has a tool unit, in particular an end effector. The tool unit is preferably arranged at the manipulator unit, preferably at the free end of the manipulator unit. The tool unit preferably has a tool receptacle for receiving a tool, a hand-held power tool or the like. The tool is particularly preferably configured as a drill bit. However, alternatively, it is also conceivable that the tool is configured as a brush, a scraper, a grinding wheel, a saw blade, a hammer or other tools that are meaningful to a person skilled in the art. It is conceivable that the tool and / or the hand-held power tool is part of the tool unit. It is also conceivable that the tool unit (in particular the tool and / or the tool unit) can be controlled by a control unit. The hand-held power tool is preferably configured as a drilling machine. The hand-held power tool can be configured as a commercially available hand-held power tool. The hand-held power tool can be configured as a battery-powered hand-held power tool or a corded hand-held power tool. Alternatively, it is also conceivable that the hand-held power tool is specifically configured to cooperate with the machining unit. Alternatively, it is also conceivable that the hand-held power tool is configured as a screwdriver, a jab saw, a cutting machine, a circular saw, a breaker hammer, a nail gun, a grinding machine or other hand-held power tools that are meaningful to a person skilled in the art. The manipulator unit in particular has a multi-axis kinematic device. The manipulator unit preferably has a robotic arm. The manipulator unit preferably has six degrees of freedom. However, alternatively, it is also conceivable that the manipulator unit has fewer than six degrees of freedom. The manipulator unit can preferably be controlled by a control unit. Preferably, the control unit is arranged for, when machining an object, controlling the machining unit, in particular the manipulator unit and / or the tool unit, preferably the tool and / or the hand-held power tool.

[0008] The forward movement unit is preferably arranged to generate a forward movement force. Preferably, the processing unit, in particular the manipulator unit, is arranged at the forward movement unit, preferably on the forward movement unit. Preferably, the tool unit is at least mechanically connected to the forward movement unit via the manipulator unit. The forward movement unit is in particular arranged to move the processing unit on a base (such as the ground, a wall and / or a ceiling). The forward movement unit is preferably arranged to move the working implement as a whole above the base. The forward movement unit in particular has a traveling mechanism. The forward movement unit, in particular the traveling mechanism, for example has a chain unit, a roller unit, a wheel unit, a propeller unit, a turbine unit or other forward movement devices considered meaningful by those skilled in the art or a combination thereof.

[0009] The chain unit in particular has at least one chain drive, preferably at least two chain drives. The wheel unit for example includes at least one wheel, preferably at least two wheels, preferably at least three wheels and particularly preferably at least four wheels. The roller unit for example includes at least one roller, preferably at least two rollers, preferably at least three rollers and particularly preferably at least four rollers. In particular in a working implement configured as a drone, the forward movement unit includes at least one propeller unit, turbine unit or the like for forward movement. The propeller unit for example has at least one propeller, preferably at least two propellers and particularly preferably at least four propellers. The turbine unit for example has at least one, preferably a plurality of turbines.

[0010] The forward movement unit preferably has at least one drive unit. In particular, the drive unit is arranged to drive the traveling mechanism, preferably the wheel unit, the roller unit, the chain unit, the propeller unit or the like. The drive unit in particular includes at least one electric motor or the like. The movement of the implement frame (in particular the forward movement unit) of the working implement is in particular coupled to the drive (in particular the movement) of the traveling mechanism. By means of the driven traveling mechanism (preferably by means of the drive unit), it is in particular possible to generate a movement of the implement frame relative to the base (in particular relative to the working environment).

[0011] The movement of the implement frame relative to the base in particular depends on the manipulation by the control unit. The drive unit is arranged to drive the traveling mechanism, in particular according to the manipulation by the control unit, such that the implement frame performs a translational and / or rotational movement. The control unit in particular includes at least one processor and a storage element as well as a running program stored on the storage element. The storage element is preferably configured as a digital storage medium, such as a hard disk or the like.

[0012] The working environment can for example be an interior area, an exterior area (especially the exterior area of a building) or the like of a building. The processing unit is in particular set up to process at least an object according to a processing plan. The processing plan is for example noted in a working environment model of the working environment. The working environment model is preferably a building information model (BIM model) or the like. The processing plan is for example stored on a storage element of the control unit. The working environment model is preferably stored on a storage element of the control unit. The control unit is in particular set up to navigate the advancing movement unit and / or the processing unit in the working environment at least according to the processing plan and / or the working environment model. Alternatively, it is also conceivable that the working environment model is stored on an external unit (not shown here), where the external unit is preferably capable of being connected to the working implement in terms of data technology, especially wirelessly and / or wired. The external unit can for example be configured as a smartphone, a cloud, a central computer, a server, a laptop, a smart home system or the like. It is also conceivable that the external unit has at least a part of the control unit.

[0013] The detection unit has for example a theodolite, a stadimeter or the like for detecting the at least one positioning reference element. The detection unit (especially the theodolite or the stadimeter) is preferably configured to automatically detect the positioning reference element (especially with the aid of the control unit). The positioning reference element is in particular an object specifically constructed for positioning. The positioning reference element is for example configured as a retroreflective marker, especially a corner cube, a reflective film or the like. The detection unit is configured to automatically detect the positioning reference element. The control unit is in particular set up to control the processing unit and / or the advancing movement unit according to the at least one positioning reference element arranged in the working environment so that the processing unit and / or the advancing movement unit move in the working environment and / or so that the object is processed by the processing unit. However, alternatively or additionally, it is also conceivable that the detection unit has a lidar unit, a stereo camera, a time-of-flight camera, a stripe-projection-based camera system and / or other detection devices considered meaningful by a person skilled in the art for positioning the working implement (especially the advancing movement unit and / or the processing unit).

[0014] The control unit is particularly configured to evaluate the information detected by the detection unit based on a Simultaneous Localization and Mapping (SLAM) method, preferably to move a working implement (preferably a processing unit and / or a forward movement unit) to the working position of the working implement (especially the forward movement unit). The working position of the working implement preferably only has information about the position of the working implement (especially the forward movement unit). The working position preferably does not contain information about the orientation (especially the rotational orientation) of the processing unit, preferably information about this part of the processing unit. The working position is preferably stored in a processing plan, especially in a working environment model. The control unit is preferably configured to move the working implement (especially the processing unit and / or the forward movement unit) to the working position for processing the at least one object according to the processing plan and according to the information detected by the detection unit. The control unit is particularly configured to determine the position and orientation of at least this part of the processing unit after moving the working implement (especially the processing unit and / or the forward movement unit) to the working position, preferably in the case of a fixed position of the forward movement unit. Determining the position and orientation of at least this part of the processing unit particularly includes determining the position and all rotational orientations of this part of the processing unit. This part of the processing unit preferably corresponds to the tool unit of the processing unit, especially the tool of the tool unit (preferably a tool arranged on a hand-held power tool of the tool unit).

[0015] Furthermore, it is proposed that the working implement has a height-adjustable working platform, which is arranged on the forward movement unit, and the detection unit is arranged on this working platform. Advantageously, particularly flexible and at the same time precise processing of the object can be achieved. In particular, a manipulator unit is arranged on the working platform. The working platform can preferably be adjusted in height relative to the base on which the working implement (especially the forward movement unit) is arranged. The working implement particularly has a lifting unit. Preferably, the height of the working platform can be adjusted by means of this lifting unit. The lifting unit has, for example, a telescopic rod. The telescopic rod is, for example, configured as a hydraulic telescopic rod. Alternatively, it is also conceivable that the lifting unit has more than one telescopic rod. Furthermore, alternatively or additionally, it is conceivable that the lifting unit has a scissor lift mechanism, a linear drive (such as a rack, a push chain, a ball screw drive, a linear motor or the like). The working platform is particularly connected to the forward movement unit by means of the lifting unit, especially the telescopic rod. Preferably, the lifting unit is connected to the control unit in terms of control technology, especially by a wireless and / or wired connection. It is conceivable that the lifting unit is part of the processing unit. Alternatively, it is conceivable that the working platform is arranged on the manipulator unit of the processing unit, such that the working platform can be adjusted in height by means of the manipulator unit.

[0016] Furthermore, it is proposed that the working implement has an inclinometer, wherein the control unit is configured to determine the position and orientation of at least this part of the processing unit in the working environment model (in particular the previously mentioned one) based on the measurement parameters obtained by means of the detection unit and the inclinometer. Such a configuration of the working implement enables the conversion of the coordinate system from the working environment model (in particular the processing plan) to the coordinate system of the processing unit. Advantageously, particularly precise machining of the object can be achieved. The inclinometer is in particular configured to determine the inclination with respect to the mounting plane of the working implement (in particular the forward movement unit). The inclinometer can be configured as a mechanical inclinometer, an electrical inclinometer or a digital inclinometer. The control unit is in particular configured to vertically orient the manipulator unit of the processing unit using at least one measurement parameter of the inclinometer. The control unit is preferably configured to convert the coordinate system of the manipulator unit to a vertical orientation based on the inclination of the manipulator unit with respect to the mounting plane determined by means of the inclinometer. Preferably, in the case of detecting the measurement parameters by means of the inclinometer and / or the detection unit to determine the position and orientation of at least this part of the processing unit, the working implement, in particular the forward movement unit, is in a fixed position.

[0017] Furthermore, it is proposed that the working implement has an inclinometer (in particular the previously mentioned one), wherein the control unit is configured to process at least one measurement parameter of the inclinometer to support the detection of the at least one positioning reference element. Advantageously, particularly efficient, precise and / or rapid positioning of the working implement, in particular the processing unit and / or the forward movement unit, can be achieved. In particular, the at least one measurement parameter of the inclinometer can be used supportively in the automatic detection of the at least one positioning reference element by means of the detection unit via the control unit.

[0018] Furthermore, it is proposed that the control unit is set up to check the need for additional positioning reference elements. Advantageously, the need for additional positioning reference elements specifically constructed for positioning support can be kept particularly small. By means of such a configuration, the user effort (in particular due to the need to install additional navigation reference elements specifically constructed for positioning) can be kept as small as possible. Advantageously, it is conceivable that the additional navigation reference elements can be dispensed with completely. The autonomous positioning of the working implement (in particular the processing unit and / or the advancing movement unit) can be achieved particularly cost-effectively. Preferably, the control unit is set up to check and / or determine the need for additional positioning reference elements according to the processing plan (in particular according to the at least one working position). The control unit is in particular set up to determine at least one need for additional positioning reference elements according to the processing plan (in particular according to the at least one working position) and / or based on the information about the working environment obtained by means of the detection unit, and the control unit requires these additional positioning reference elements to determine the position and orientation of this part of the processing unit in the entire working environment or in the part of the working environment relevant to the processing of the at least one object. The extension scale of the part of the working environment relevant to the processing of the at least one object depends in particular on the processing plan, preferably the at least one working position. The additional positioning reference elements are in particular objects specifically constructed for positioning. The additional positioning reference elements are preferably constructed as reflection markers, in particular corner reflectors, reflective films or the like. The detection unit is preferably configured to detect the additional positioning reference elements. The control unit is in particular set up to control the processing unit and / or the advancing movement unit, in particular as required, according to the additional positioning reference elements installed in the working environment, for positioning the processing unit and / or the advancing movement unit in the working environment and / or for processing an object by means of the processing unit.

[0019] Furthermore, it is proposed that the control unit is set up to determine the desired installation position of at least one additional positioning reference element according to the check of the need for additional positioning reference elements. Advantageously, the required positioning of the working implement (in particular the processing unit and / or the advancing movement unit) in the working environment can be ensured in a particularly convenient manner. Advantageously, particularly high user convenience and / or particularly low user effort can be achieved. For example, the working implement includes an output unit. The output unit is constructed, for example, as an optical output unit, an acoustic output unit, a tactile output unit or a combination thereof. The output unit has, for example, a screen, a speaker, a light-emitting element (such as an LED or a laser) or the like. It is conceivable that the output unit is set up to output the desired installation position. For example, it is conceivable that the desired installation position is displayed on the screen of the output unit and / or the output unit is configured to project the desired installation position into the working environment. Alternatively or additionally, it is also conceivable that the working implement (in particular the processing unit) is configured to fasten the additional positioning reference element at the desired installation position at least partially automatically.

[0020] It is further proposed that the control unit is set up to determine the actual position of the at least one additional positioning reference element by means of a detection unit (in particular a theodolite or a stadimeter). Advantageously, the additional positioning reference element can be used for positioning the working tool (in particular a machining unit and / or a feed unit) particularly conveniently and with particularly little user effort. Advantageously, a particularly efficient and / or precise operation of the working tool can be achieved. The control unit is in particular set up to store the actual position of the additional positioning reference element on a storage element of the control unit, in particular in a work environment model. The additional positioning reference element is preferably suitable for positioning the working tool (in particular a machining unit and / or a feed unit) in the work environment and / or for determining the position and orientation of at least this part of the machining unit.

[0021] It is furthermore proposed that a machining plan of the machining unit (in particular the previously mentioned one) is stored on the control unit, wherein the requirement for the additional positioning reference element depends on this machining plan. Advantageously, depending on the specified machining object, the need to ensure the positionability of the working tool in the entire work environment can be dispensed with. Advantageously, the requirement for additional positioning reference elements specifically constructed for positioning support can be kept small. Advantageously, a particularly small assembly effort for assembling the additional positioning reference element can be achieved.

[0022] It is furthermore proposed a system having a working tool and having at least one positioning reference element. Such a system enables a particularly precise positioning of the machining unit in the work environment. It can advantageously be achieved that the position and orientation in the work environment of the machining unit can be determined precisely and / or reliably. A particularly precise autonomous machining of the object can be achieved. Advantageously, collisions between the machining unit and objects in the work environment of the machining unit can be resisted particularly reliably.

[0023] Furthermore, the present invention is based on a method for at least partially automatically processing (in particular the previously mentioned) objects, in particular a method for at least partially automatically generating drill holes in an object, preferably (in particular the previously mentioned) building component, by means of an autonomous or manual working tool, in particular the previously mentioned working tool, or by means of a system, in particular the previously mentioned system. It is proposed that at least based on the positioning reference element detected by the detection unit of the (in particular the previously mentioned) working tool arranged on the (in particular the previously mentioned) forward movement unit of the (in particular the previously mentioned) working tool, the position and orientation of at least a part of the (in particular the previously mentioned) processing unit of the working tool are determined. Such a method enables particularly precise positioning of the processing unit in the working environment. It can be advantageously achieved that the position and orientation in the working environment of the processing unit can be determined precisely and / or reliably. Particularly precise autonomous processing of the object can be achieved. Advantageously, collisions between the processing unit and objects in the working environment of the processing unit can be particularly reliably resisted.

[0024] Here, the working tool, system and / or method should not be limited to the applications and embodiments described above. In particular, in order to meet the working modes described herein, the working tool, system and / or method may have a number of individual elements, components, units and method steps different from the numbers mentioned herein. In addition, for the numerical ranges given in this disclosure, the values within the mentioned limits should also be regarded as disclosed and can be used arbitrarily. Description of the Drawings

[0025] Further advantages result from the following description of the drawings. Five embodiments of the present invention are shown in the drawings. The drawings, the description and the claims contain features in a large number of combinations. Those skilled in the art will usefully consider these features individually and combine them into other meaningful combinations.

[0026] It shows:

[0027] Figure 1 The autonomous working tool and the object to be processed in a schematic diagram,

[0028] Figure 2 The autonomous working tool in the working environment in a schematic top view,

[0029] Figure 3 A part of the autonomous working tool with an interface device in a schematic diagram,

[0030] Figure 4 The schematic flow of a method for at least partially automatically processing an object,

[0031] Figure 5 The schematic flow of another method for at least partially automatically processing an object,

[0032] Figure 6 A system having an autonomous working device in a first alternative embodiment in a schematic diagram and having a positioning reference element, and an object to be processed

[0033] Figure 7 By means of an autonomous working device from Figure 6 Schematic flow of a method for at least partially automatically processing an object

[0034] Figure 8 An autonomous working device and an object to be processed in a second alternative embodiment in a schematic diagram

[0035] Figure 9 By means of an autonomous working device from Figure 8 Schematic flow of a method for at least partially automatically processing an object

[0036] Figure 10 A system having an autonomous working device in a third alternative embodiment in a schematic diagram and having a projection unit, and an object to be processed

[0037] Figure 11 By means of a system from Figure 10 Schematic flow of a method for at least partially automatically processing an object

[0038] Figure 12 A system having an autonomous working device in a fourth alternative embodiment in a schematic diagram and having at least two positioning elements, and an object to be processed, and

[0039] Figure 13 By means of a system from Figure 12 Schematic flow of a method for at least partially automatically processing an object Detailed implementation manner

[0040] Figure 1A system 36a with an autonomous working implement 10a is shown. Alternatively, it is also conceivable that the working implement 10a is configured as a manual working implement 10a. The autonomous working implement 10a is configured as a construction site robot, in particular a drilling robot. However, alternatively, it is also conceivable that the autonomous working implement 10a is configured as a construction site robot different from a drilling robot, for example, configured as a painting robot, configured as a window cleaning robot, configured as a floor cleaning robot, configured as an outdoor robot, such as a subsoiling robot, configured as a hedge trimming robot, configured as a snow removal robot, configured as a collection robot, in particular for collecting leaves, branches or the like, configured as a combination of these robots, or configured as other autonomous working implements 10a that are considered meaningful by those skilled in the art. The autonomous working implement 10a is configured differently from a stationary autonomous working implement. The autonomous working implement 10a is configured differently from an autonomous implement fixedly installed at a location, in particular an industrial robot. The autonomous working implement 10a is configured to move forward independently. The autonomous working implement 10a is configured as a mobile autonomous working implement. The autonomous working implement 10a is configured to be able to walk. However, alternatively, it is also conceivable that the autonomous working implement 10a is configured as a drone.

[0041] The autonomous working implement 10a is arranged to at least partially automatically process an object 68a. Here, the autonomous working implement 10a is exemplarily arranged to at least partially automatically produce a drill hole in the object 68a. The autonomous working implement 10a is arranged to independently process the object 68a, in particular to independently produce a drill hole in the object 68a. The object 68a is a building component, in particular a ceiling. Alternatively, it is conceivable that the object 68a is a wall, a floor, a facade, furniture or the like.

[0042] The autonomous working implement 10a has a processing unit 12a. The processing unit 12a has a drilling unit 88a, in particular configured as a drilling unit 88a. The processing unit 12a has a tool unit 44a (also see Figure 3) The tool unit 44a is configured as an end effector. The tool unit 44a has a tool receiving part 120a for receiving a hand-held power tool 122a. The hand-held power tool 122a is arranged on the tool receiving part 120a. The hand-held power tool 122a is part of the autonomous working appliance 10a, in particular part of the tool unit 44a. The tool unit 44a, in particular the hand-held power tool 122a, can be controlled by the control unit 16a. The hand-held power tool 122a is configured as a drill. The hand-held power tool 122a can be configured as a commercially available hand-held power tool. The hand-held power tool 122a can be configured as a battery-powered hand-held power tool or a corded hand-held power tool. Alternatively, it is also conceivable that the hand-held power tool 122a is specifically configured to cooperate with the processing unit 12a. Alternatively, it is also conceivable that the hand-held power tool 122a is configured as a screwdriver, a jab saw, an expansion bolt inserter, a keyseat cutter, a cutting machine, a circular saw, a breaker hammer, a nail gun, a grinding machine or other hand-held power tools that are meaningful to those skilled in the art. Alternatively or additionally, it is conceivable that the tool receiving part 120a is configured to receive tools or the like. The tool is configured, for example, as a drill bit, a brush, a scraper, a grinding wheel, a saw blade, a hammer or other tools that are meaningful to those skilled in the art. It is conceivable that the tool is part of the tool unit 44a. Additionally alternatively or additionally, it is conceivable that the tool unit 44a is configured for rotational drive, oscillatory drive, etc. of the tool.

[0043] The tool receiving part 120a of the tool unit 44a has, for example, a two-point fastening with the hand-held power tool 122a in the state where the hand-held power tool 122a is fastened to the tool receiving part 120a. Alternatively, it is conceivable that the tool receiving part 120a has a single-point fastening or at least a three-point fastening with the hand-held power tool 122a in the state where the hand-held power tool 122a is fastened to the tool receiving part 120a. The tool receiving part 120a preferably has a (preferably damped) spring unit (not shown here), by means of which, in particular, the hand-held power tool 122a and / or the tool are connected to the tool receiving part 120a in the state of being arranged on the tool receiving part 120a. It is conceivable that the damping of the spring unit is adjustable. The spring unit has, for example, at least one elastic element, in particular a helical spring, a leaf spring, a rubber-elastic element or the like.

[0044] The processing unit 12a has a manipulator unit 72a. The manipulator unit 72a is configured as a robotic arm. The manipulator unit 72a has a multi-axis kinematic device. The manipulator unit 72a has six degrees of freedom. However, alternatively, it is also conceivable that the manipulator unit 72a has fewer than six degrees of freedom. The manipulator unit 72a can be controlled by the control unit 16a. The control unit 16a is arranged to control the processing unit 12a, in particular the manipulator unit 72a and / or the tool unit 44a, preferably the handheld machine tool 122a, when processing the object 68a.

[0045] The autonomous working device 10a has a forward movement unit 14a for moving the processing unit 12a forward. The forward movement unit 14a is arranged to generate a forward movement force. The processing unit 12a, in particular the manipulator unit 72a, is arranged at the forward movement unit 14a, preferably on the forward movement unit. The tool unit 44a is at least mechanically connected to the forward movement unit 14a via the manipulator unit 72a. The forward movement unit 14a is arranged to move the processing unit 12a on a base 150a (such as the ground, a wall and / or a ceiling). The forward movement unit 12a is arranged to move the autonomous working device 10a as a whole above the base 150a. The forward movement unit 14a has a traveling mechanism 128a. The forward movement unit 14a, in particular the traveling mechanism 128a, has a wheel unit 124a. The wheel unit 124a includes four wheels 126a ( Figure 1 only two of the four wheels 126a are shown). Alternatively, it is also conceivable that the wheel unit 124a has only one wheel, two wheels, three wheels or more than four wheels. Alternatively or additionally, it is conceivable that the forward movement unit 14a has a chain unit, a roller unit, a propeller unit or other forward movement devices considered meaningful by those skilled in the art or a combination thereof. The chain unit in particular has at least one chain drive, preferably at least two chain drives. The roller unit includes, for example, at least one roller, preferably at least two rollers, preferably at least three rollers and particularly preferably at least four rollers. In particular, in the autonomous working device 10a configured as a drone, the forward movement unit 14a includes at least one propeller unit or the like for forward movement. The propeller unit has, for example, at least one propeller, preferably at least two propellers and particularly preferably at least four propellers.

[0046] The forward movement unit 14a has at least one drive unit (not shown here). The drive unit is arranged to drive the traveling mechanism 128a, in particular the wheel unit 124a. The drive unit includes at least one electric motor or the like. The movement of the appliance frame 130a of the autonomous working appliance 10a (in particular the forward movement unit 14a) is coupled to the drive (in particular the movement) of the traveling mechanism 128a. The movement of the appliance frame 130a can be generated by the driven traveling mechanism 128a (preferably by means of the drive unit).

[0047] The autonomous working appliance 10a has a control unit 16a for at least controlling the processing unit 12a. The movement of the appliance frame 130a depends on the control by the control unit 16a. The drive unit is arranged to drive the traveling mechanism 128a, in particular to perform translational and / or rotational movements of the appliance frame 130a, especially according to the control by the control unit 16a. The control unit 16a especially includes at least one processor and a storage element as well as a running program stored on the storage element. The storage element is preferably configured as a digital storage medium, such as a hard disk or the like. The processing unit 12a, in particular the tool unit 44a and / or the manipulator unit 72a, can be controlled by means of the control unit 16a.

[0048] The autonomous working appliance 10a has a height-adjustable working platform 32a. Alternatively, it is also conceivable that the autonomous working appliance 10a is configured without a height-adjustable working platform 32a. The working platform 32a is arranged at the forward movement unit 14a. The manipulator unit 72a is arranged on the working platform 32a. The working platform 32a can be adjusted in height relative to the base 150a on which the autonomous working appliance 10a (in particular the forward movement unit 14a) is arranged. The autonomous working appliance 10a has a lifting unit 144a. The height of the working platform 32a can be adjusted by means of the lifting unit 144a. The lifting unit 144a has a telescopic rod 146a. The telescopic rod 146a is configured as a hydraulic telescopic rod. Alternatively, it is also conceivable that the lifting unit 144a has more than one telescopic rod 146a. Additionally or alternatively, it is also conceivable that the lifting unit 144a has a scissor lift mechanism, a linear drive (such as a rack, a push chain, a ball screw drive, a linear motor or the like). The working platform 32a is connected to the forward movement unit 14a by means of the lifting unit 144a, in particular the telescopic rod 146a. The lifting unit 144a is connected to the control unit 16a in terms of control technology, especially by wireless and / or wired connection. The lifting unit 144a is part of the processing unit 12a. For example, alternatively, it is conceivable that the working platform 32a is arranged on the manipulator unit 72a of the processing unit 12a such that the working platform 32a can be adjusted in height by means of the manipulator unit 72a.

[0049] The control unit 16a is configured to classify the test object 18a as a positioning reference object 20a at least based on a comparison between the desired characteristic parameters of at least one test object 18a in the working environment 26a of the processing unit 12a and the actual characteristic parameters of the at least one test object 18a. The working environment 26a is, by way of example, an interior area of a building. Alternatively, it is also conceivable that the working environment is an exterior area (especially of a building) or the like. The test object 18a is a wall in the working environment 26a of the processing unit 12a. Alternatively, the test object 18a can also be an object 68a, especially a ceiling, a floor, another (preferably fixed) building component or a fixed (especially stationary) object in the working environment 26a.

[0050] The desired characteristic parameters of the test object 18a have at least one information about the desired position of the test object 18a. Alternatively or additionally, it is conceivable that the desired characteristic parameters of the test object 18a have information about at least one dimension (especially height and / or width) of the test object 18a, material characteristic parameters of the test object 18a, surface characteristic parameters (e.g., flatness) of the test object 18a, temperature characteristic parameters of the test object 18a, humidity characteristic parameters of the test object, combinations of these characteristic parameters, etc. The desired characteristic parameters are stored on a storage element of the control unit 14a, especially in a working environment model of the working environment 26a. The working environment model is a building information model (BIM model) or the like. Stored in the working environment model are which objects in the working environment 26a should be understood as the test object 18a. The working environment model is stored on a storage element of the control unit 16a. Alternatively, it is also conceivable that the working environment model is stored on an external unit (not shown here), where the external unit is preferably capable of being connected to the autonomous working appliance 10a in terms of data technology, especially wirelessly and / or wired. The external unit can be configured, for example, as a smartphone, a cloud, a central computer, a server, a laptop, a smart home system or the like. It is also conceivable that the external unit has at least a part of the control unit 16a. The processing unit 12a is configured to process at least the object 68a according to a processing plan. The processing plan is stored, for example, on a storage element of the control unit 16a. The processing plan is noted, for example, in the working environment model. The control unit 16a is configured to navigate the forward movement unit 14a and / or the processing unit 12a in the working environment 26a at least based on the processing plan and / or the working environment model.

[0051] The autonomous working device 10a has at least one detection unit 30a. The detection unit 30a is arranged on the working platform 32a. Alternatively, it is also conceivable that the detection unit 30a is arranged at the processing unit 12a or the forward movement unit 14a. The detection unit 30a is configured to detect the actual characteristic parameters of the test object 18a. The control unit 16a is configured to control the autonomous working device 10a (especially the forward movement unit 14a and / or the processing unit 12a) based on the information detected by the detection unit 30a, preferably when positioning in the working environment 26a, especially when positioning in the working environment 26a according to the processing plan and / or the working environment model. The detection unit 30a is configured as an optical detection unit. The detection unit 30a has at least one lidar unit (not shown here) for detecting the working environment 26a. Alternatively or additionally, it is conceivable that the detection unit 30a has a stereo camera, a time-of-flight camera, a stripe projection-based camera system, and / or other detection devices considered meaningful by those skilled in the art. The detection unit 30a is configured to detect the actual characteristic parameters of the test object 18a or detect the information for obtaining the actual characteristic parameters of the test object 18a. The control unit 16a is configured to evaluate the information detected by the detection unit 30a (especially the lidar unit) based on the simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is especially a method in robotics for synchronously determining the position and creating a map, where, especially within this method, preferably the virtual map of the environment and the spatial orientation of the movable unit (especially the autonomous working device) within this virtual map are obtained simultaneously.

[0052] The control unit 14a is configured to control the processing unit 12a based on at least one test object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the forward movement unit 14a based on the test object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the processing unit 12a (especially the manipulator unit 72a and / or the tool unit 44a) and / or the forward movement unit 14a based on the test object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the processing unit 12a and / or the forward movement unit 14a based on the test object 18a classified as a positioning reference object 20a in order to position the processing unit 12a and / or the forward movement unit 14a in the working environment 26a (especially when moving). The control unit 16a is configured to control the processing unit 12a and / or the forward movement unit 14a based on the test object 18a classified as a positioning reference object 20a when processing the object 68a by the processing unit 12a.

[0053] The control unit 16a is configured to, when positioning (especially moving) the processing unit 12a and / or the forward movement unit 14a, ignore the test object 18a that has been excluded from the classification as the positioning reference object 20a due to the comparison of the actual characteristic parameters of the test object 18a with the desired characteristic parameters of the test object 18a. The control unit 16a is configured to, when processing the object 68a by the processing unit 12a, ignore the test object 18a that has been excluded from the classification as the positioning reference object 20a due to the comparison of the actual characteristic parameters of the test object 18a with the desired characteristic parameters of the test object 18a.

[0054] The control unit 16a is configured to, when comparing the desired characteristic parameters of the test object 18a with the actual characteristic parameters of the test object 18a, determine the deviation between the actual characteristic parameters and the desired characteristic parameters. If the value of the deviation between the actual characteristic parameters and the desired characteristic parameters is within the tolerance range relative to the value of the desired characteristic parameters, the control unit 16a classifies the test object 18a as the positioning reference object 20a. If the value of the deviation between the actual characteristic parameters and the desired characteristic parameters is outside the tolerance range relative to the value of the desired characteristic parameters, the control unit 16a excludes the test object 18a from the classification as the positioning reference object 20a. The tolerance range is especially defined in the running program, especially stored in the working environment model. It is conceivable that the tolerance range can be adapted, especially manually by the operator and / or automatically by the control unit 16a, for example, according to the information stored in the working environment model.

[0055] The control unit 16a is configured to identify sub-regions 90a, 92a of the working environment 26a at least based on the classification of the at least one test object 18a, in which the processing unit 12a can be positioned based on the at least one test object 18a. For example, if in one of the sub-regions 90a, 92a, at least one test object 18a classified as the positioning reference object 20a by the control unit 16a can be detected by the detection unit 30a, then in this sub-region of the sub-regions 90a, 92a, the processing unit 12a can be positioned according to the test object 18a (preferably with the help of the control unit 16a). For example, if in another sub-region of the sub-regions 90a, 92a of the working environment, there is no test object 18a that can be detected by the detection unit 30a and classified as the positioning reference object 20a by the control unit 16a, then the (especially accurate enough) positioning of the processing unit 12a in this other sub-region of the sub-regions 90a, 92a cannot be achieved by the control unit 16a based on the positioning reference object 20a.

[0056] Figure 2An exemplary sub-region 90a of the working environment 26a is shown, in which at least one test object 18a classified by the control unit 16a as a positioning reference object 20a can be detected by the detection unit 30a, such that in the sub-region 90a, the processing unit 12a can be positioned based on the at least one test object 18a. There is no test object 18a in another sub-region 92a of the working environment 26a that can be detected by the detection unit 30a and classified as a positioning reference object 20a by the control unit 16a, such that in particular, positioning of the processing unit 12a in this another region 92a based on the test object 18a (in particular, based on the test object 18a classified as a positioning reference object 20a) by the control unit 16a is excluded.

[0057] The control unit 16a is configured to use the support parts 28a, 94a assigned to the processing unit 12a in the working environment 26a of the processing unit 12a to check the positioning required for processing the object 68a at the support parts 28a, 94a of the processing unit 12a. The support parts 28a, 94a are stored in the working environment model. The support parts 28a, 94a represent the following positions: when the positioning of the autonomous working device 10a (in particular, the processing unit 12a and / or the forward movement unit 14a) can be achieved at these support parts 28a, 94a, these positions can enable the autonomous positioning and / or autonomous operation of the autonomous working device 10a (in particular, the processing unit 12a and / or the forward movement unit 14a) in the entire working area 26a, in particular, the autonomous operation and / or autonomous navigation of the autonomous working device 10a (preferably the processing unit and / or the forward movement unit) for processing the object, preferably for performing the processing plan. The control unit 16a is configured to at least at the support parts 28a, 94a, in particular based on the information of the working environment 26a detected by the detection unit 30a, check whether the positioning of the autonomous working device 10a (in particular, the processing unit 12a and / or the forward movement unit 14a) can be achieved at the support parts 28a, 94a based on the at least one test object 18a that can be classified as a positioning reference object 20a.

[0058] The control unit 16a is configured to check the need for additional positioning reference elements 22a. The control unit 16a is configured to determine the need for additional positioning reference objects 22a, in particular the number of additional positioning reference elements 22a required to position the processing unit 12a in sub - regions 90a, 92a of the working environment 26a (in these sub - regions, the positioning of the processing unit 12a based on the at least one test object 18a classifiable as a positioning reference object 20a is excluded). In particular, the control unit 16a is configured to determine the need for additional positioning reference elements 22a for support sites 28a, 94a of the working environment 26a (at these support sites, the positioning of the processing unit 12a is excluded based on the at least one test object 18a classifiable as a positioning reference object 20a), in particular the number of additional positioning reference elements 22a required to position the processing unit 12a at the support sites 28a, 94a (at these support sites, in particular, the positioning of the processing unit 12a is excluded based on the at least one test object 18a classifiable as a positioning reference object 20a).

[0059] It is conceivable that the need for additional positioning reference elements 22a includes only one additional positioning reference element 22a, two additional positioning reference elements 22a, at least three additional positioning reference elements 22a or more additional positioning reference elements 22a. The need for additional positioning reference elements 22a depends on the machining plan. The additional positioning reference elements 22a are objects specifically constructed for positioning. The additional positioning elements 22a are constructed as retro - reflectors, in particular corner cubes, reflective films or the like.

[0060] The detection unit 30a is configured to detect the additional positioning reference elements 22a. The control unit 16a is configured to, in particular as required, control the processing unit 12a and / or the advancing movement unit 14a according to the additional positioning reference elements 22a assembled in the working environment 26a for positioning the processing unit 12a and / or the advancing movement unit 14a in the working environment 26a and / or for machining an object 68a by the processing unit 12a.

[0061] There is no need for additional positioning reference elements 22a in sub - regions 90a, 92a of the working environment 26a (in particular support sites 28a, 94a) - in these regions (at these support sites), the positioning of the autonomous working implement 10a (preferably the processing unit 12a and / or the advancing movement unit 14a) can be achieved by means of the control unit 16a based on the at least one test object 18a classified as a positioning reference object 20a.

[0062] The control unit 16a is configured to determine the desired mounting position of at least one additional positioning reference element 22a based on an inspection of the need for the additional positioning reference element 22a. For example, the autonomous working appliance 10a includes an output unit (not shown here). The output unit is configured, for example, as an optical output unit, an acoustic output unit, a haptic output unit, or a combination thereof. The output unit has, for example, a screen, a light-emitting element (such as an LED or a laser), a speaker, or the like. It is conceivable that the output unit is configured to output the desired mounting position. For example, it is conceivable that the desired mounting position is displayed on the screen of the output unit and / or the output unit is configured to project the desired mounting position into the working environment 26a. Alternatively or additionally, it is also conceivable that the autonomous working appliance 10a (especially the processing unit 12a) is configured to fasten the additional positioning reference element 22a at the desired mounting position at least partially automatically.

[0063] The autonomous working appliance 10a has an interface device 46a. The tool unit 44a is connected to the autonomous working appliance 10a (especially the manipulator unit 72a of the processing unit 12a) by means of the interface device 46a. The interface device 46a has a robot-tool connection unit 48a for at least mechanically connecting the tool unit 44a to the autonomous working appliance 10a (especially the manipulator unit 72a). The robot-tool connection unit 48a is arranged on the manipulator unit 72a, preferably on the free end 118a of the manipulator unit 72a. The tool unit 44a (especially the interface device 46a) is arranged on the free end 118a of the manipulator unit 72a. It is conceivable that the robot-tool connection unit 48a is configured to rotate-drive, oscillate-drive, etc. the tool unit 44a (especially the tool).

[0064] The control unit 16a is configured to prevent or permit the machining step 158a planned for the object 68a to be executed by the machining unit 12a, based on at least one surface characteristic parameter of at least a part of the surface 84a of the object 68a to be machined. The machining plan has at least the machining step 158a. This part of the surface 84a has at least one face to be machined in the machining step 158a. In particular, if the surface characteristic parameter determined for this part of the surface 84a is within the limit range relative to the expected value of the surface characteristic parameter of this part of the surface 84a, the control unit 16a is configured to permit the planned machining step 158a. In particular, if the surface characteristic parameter determined for this part of the surface 84a is outside the limit range relative to the expected value of the surface characteristic parameter of this part of the surface 84a, the control unit 16a is configured to prevent the planned machining step 158a. The expected value of the surface characteristic parameter of this part of the surface 84a and / or the associated limit range is stored, for example, in a storage element of the control unit 16a, especially in the working environment model.

[0065] The surface characteristic parameter includes at least one piece of information about the flatness of this part of the surface 84a. The flatness of the face corresponds in particular to the value of the distance between two planes arranged parallel to each other, which are arranged at the following minimum distance relative to each other, in which case the entire face is arranged within these two planes. Additionally or alternatively, it is conceivable that the surface characteristic parameter has information about the material or the like of this part of the surface 84a. The surface characteristic parameter or the information for determining the surface characteristic parameter can be detected by the detection unit 30a (especially the lidar unit of the detection unit 30a). The orientation of the detection unit 30a is preferably changeable, especially adjustable. Preferably, the detection unit 30a has an adjustment unit (not shown here) for adjusting the orientation of the detection unit 30a. The adjustment unit 30a preferably has an actuator motor. The adjustment unit 30a is preferably connected to the control unit 16a at least in terms of control technology. Alternatively, it is conceivable that the detection unit 30a is arranged on the machining unit 12a (especially the manipulator unit 72a), such that the orientation of the detection unit 30a can be changed, especially adjusted, by means of the manipulator unit 72a. The control unit 16a is configured to adjust the orientation of the detection unit 30a, especially by controlling the adjustment unit, at least for detecting the at least one surface characteristic parameter. Alternatively, it is conceivable that the autonomous working device 10a has another (especially separate from the detection unit 30a) detection unit, especially another lidar unit or the like, for detecting the surface characteristic parameter or for detecting the information for determining the surface characteristic parameter.

[0066] If the flatness obtained for this part of the surface 84a is within the limit range of the expected value of the flatness of this part of the surface 84a, the control unit 16a is set to permit the planned machining step 158a. If the flatness obtained for this part of the surface 84a is outside the limit range of the expected value of the flatness of this part of the surface 84a, the control unit 16a is set to prevent the planned machining step 158a. The expected value of the flatness of this part of the surface 84a and / or the associated limit range are stored, for example, in a storage element of the control unit 16a, in particular in the working environment model.

[0067] The control unit 16a is set to permit or prevent the machining step 158a planned for the object 68a to be carried out by the machining unit 12a based on the detection of obstacles in the machining area 86a of this part of the surface 84a of the object 68a. By means of obstacle detection, information about the obstacle object 96a in the machining area 86a can be detected. The detection unit 30a (in particular the lidar unit of the detection unit 30a) is set to detect the obstacle object 96a during obstacle detection. Alternatively, it is conceivable that the autonomous working implement 10a has another (in particular separate from the detection unit 30a) detection unit for obstacle detection.

[0068] The machining area 86a is part of the working environment 26a, in particular the area surrounding this part of the surface 84a, in which the autonomous working implement 10a (in particular the machining unit 12a and / or the forward movement unit 14a) moves when machining the object 68a (in particular when carrying out the planned machining step 158a). This part of the surface 84a is part of the machining area 86a. In the case where an obstacle object 96a is identified in the machining area 86a during obstacle detection, the control unit 16a is set to prevent the planned machining step 158a. If it can be confirmed during obstacle detection that the machining area 86a does not have an obstacle object 96a, the control unit 16a is set to permit the planned machining step 158a.

[0069] If the flatness obtained for this part of the surface 84a is outside the limit range of the expected value of the flatness of this part of the surface 84a, the control unit 16a is set to prevent the planned machining step 158a. The expected value of the flatness of this part of the surface 84a and / or the associated limit range are stored, for example, in a storage element of the control unit 16a, in particular in the working environment model.

[0070] The control unit 16a is configured to determine a prohibited movement area of the processing unit 12a based on obstacle detection. In the case where an obstacle object 96a is present in an area in the working environment 26a, the control unit 16a is configured to classify this area as a prohibited movement area. The control unit 16a is configured to control the processing unit 12a and / or the forward movement unit 14a such that the autonomous working implement 10a (in particular the processing unit 12a and / or the forward movement unit 14a) is always outside the area in the working environment 26a that is classified as a prohibited movement area. Information about the prohibited movement area can be stored, for example, in a storage element of the control unit 16a, in particular in a working environment model.

[0071] The control unit 16a is configured to compare at least one piece of information from the obstacle detection with the working environment model. By comparing the information from the obstacle detection with the working environment model, it can be confirmed whether the obstacle identified during the obstacle detection is known in the working environment model.

[0072] It is conceivable that the control unit 16a is configured to permit or block the planned processing step 158a based on the comparison of the information from the obstacle detection with the working environment model. For example, it is conceivable that if the comparison of the information from the obstacle detection with the working environment model indicates that the obstacle object 96a identified during the obstacle detection is already known in the working environment model, the control unit 16a permits the planned processing step 158a. For example, it is also conceivable that the control unit 16a is configured to block the planned processing step 158a if the obstacle object 96a identified during the obstacle detection is unknown in the working environment model.

[0073] Furthermore, it is conceivable that the control unit 16a is configured to correct the planned processing step 158a based on the comparison of the working environment model with the information from the obstacle detection. For example, it is conceivable that by comparing the working environment model with the information from the obstacle detection, the position deviation between the obstacle object 96a known in the working environment model and the obstacle object 96a detected in the working environment 26a by means of the detection unit 30a can be confirmed by the control unit 16a. For example, the control unit 16a is configured to correct the processing coordinates, processing angle, processing duration, processing intensity, etc. of the planned processing step 158a based on the comparison of the working environment model with the information from the obstacle detection, in particular based on the position deviation confirmed by the control unit 16a between the obstacle object 96a known in the working environment model and the obstacle object 96a detected in the working environment 26a by means of the detection unit 30a.

[0074] The robot - tool connection unit 48a is configured to be modularly expandable for arranging different interface function modules. The interface modules can be detachably fixed to the robot - tool connection unit 48a. It is conceivable that at least a part of the interface modules can be installed on the robot - tool connection unit 48a without tools and / or detached from the robot - tool connection unit 48a without tools. At least a part of the interface modules is connected to the control unit 16a in terms of data technology and / or control technology, especially wirelessly and / or radio - connected, in the state of being arranged on the robot - tool connection unit 48a. The control unit 16a is set to control at least a part of the interface modules. The tool unit 44a is connected to the control unit 16a in terms of data technology and / or control technology, especially wirelessly and / or wired - connected, in the state of the tool unit 44a being arranged on the robot - tool connection unit 48a. It is conceivable that at least a part of the interface modules has at least one valve for controlling the functions of the corresponding interface modules. It is conceivable that the robot - tool connection unit 48a (especially the control unit 16a) is configured to automatically recognize the connection with one of the interface modules. Furthermore, it is conceivable that the robot - tool connection unit 48a (especially the control unit 16a) is configured to automatically identify the interface modules connected to the robot - tool connection unit 48a.

[0075] The robot - tool connection unit 48a has at least one module interface (not shown here), preferably a plurality of module interfaces, for fastening at least one interface module, preferably a plurality of interface modules. The at least one module interface is preferably configured to be mechanically connected to at least one of the interface modules. It is conceivable that the at least one module interface is configured to be electrically connected to at least one of the interface modules, for example, for supplying electrical energy to the at least one interface module that can be arranged on the module interface. Preferably, the at least one interface module is configured to be connected to at least one of the interface modules arranged on the module interface in terms of data technology and / or control technology.

[0076] The interface device 46a has a sensing device module 50a for detecting environmental characteristic parameters and / or the tool unit 44a. The sensing device module 50a is one of the above - mentioned interface modules. Alternatively, it is also conceivable that the interface device 46a is constructed without the sensing device module 50a. The environmental characteristic parameters can, for example, have information about the distance between the tool unit 44a and the object 68a to be processed or other objects in the working environment 26a, can have temperature (especially the temperature of the object 68a, other objects, and / or ambient air), air humidity, the force acting on the robot - tool connection unit 48a (for example, when processing the object 68a with the processing unit 12a), information about the gas composition in the ambient air (especially information about harmful gases in the ambient air), ambient air pressure, information about the personnel located in the working area 26a, their combinations, etc.

[0077] The sensing device module 50a can, for example, detect at least the mechanical and / or electrical connection of the robot-tool connection unit 48a and the tool unit 44a. The sensing device module 50a is connected to the control unit 16a at least in terms of data technology in a state where the sensing device module 50a is arranged on the robot-tool connection unit 48a, especially by wireless and / or wired connection. The sensing device module 50a preferably has an optical sensor unit (such as a lidar unit, a laser interferometer or the like) and / or a capacitive sensor unit, preferably for detecting the tool unit 44a, especially for detecting information about the connection between the robot-tool connection unit 48a and the tool unit 44a. The optical sensor unit can be arranged for detecting information about the distance between the tool unit 44a and the object to be processed 68a or other objects in the working environment 26a, etc. The sensor element of the sensing device module 50a (especially the optical sensor unit) is arranged on the robot-tool connection unit 48a in a manner vibrationally decoupled from the tool unit 44a and / or the robot-tool connection unit 48a. Alternatively or additionally, it is conceivable that the sensing device module 50a has a temperature sensor, a humidity sensor, a barometer, a force sensor, a gas sensor, etc. or a combination thereof.

[0078] The interface device 46a has an energy supply module 52a for transmitting energy to the tool unit 44a (especially the hand-held power tool 122a) arranged on the robot-tool connection unit 48a. The energy supply module 52a is one of the above-mentioned interface modules. Alternatively, it is also conceivable that the interface device 46a is configured without an energy supply module 52a. Through the energy supply module 52a, electrical energy can be supplied to the tool unit 44a (especially the hand-held power tool 122a). The energy supply module 52a has at least one electrical interface (not shown here) for making an electrical connection with the tool unit 44a (preferably the hand-held power tool 122a), especially for making an electrical connection with the power cord or the battery pack interface of the tool unit 44a (especially the hand-held power tool 122a). It is conceivable that the energy supply module 52a obtains energy (especially electrical energy) from the energy storage of the autonomous working device 10a (not shown here), and / or the energy supply module 52a has its own energy storage (such as a battery pack, a battery, a solar module or the like). It is conceivable that the energy supply module 52a is connected to the control unit 16a in terms of control technology and / or data technology, especially by wireless and / or wired connection, preferably at least in a state where the energy supply module 52a is arranged on the robot-tool connection unit 48a. Alternatively, it is conceivable that the energy supply module 52a is configured not to be connected to the control unit 16a in terms of data technology and / or control technology.

[0079] The interface device 46a has a fluid transfer module 54a for transferring fluid, in particular from a tool unit 44a arranged on a robot-tool connection unit 48a, especially from a hand-held machine tool 122a. The fluid transfer module 54a is one of the aforementioned interface modules. Alternatively, it is also conceivable that the interface device 46a is configured without a fluid transfer module 54a. The fluid transfer module 54a is one of the said interface modules. The fluid transfer module 54a has at least one fluid-technical interface (not shown here) for fluid-technically connecting to a suction element 136a (such as a hose, pipe, air connection fitting or the like) of the tool unit 44a (especially the hand-held machine tool 122a). The fluid transfer module 54a is arranged for sucking off in particular the removal material that can be generated by machining an object 68a by means of a machining unit 12a (especially the tool unit 44a). The fluid transfer module 54a has another fluid-technical interface (not shown here) for fluid-technically connecting to a suction unit (not shown here), especially to a suction hose 140a of the suction unit. It is conceivable that the suction unit is part of an autonomous working appliance 10a, or that the suction unit is constructed separately from the autonomous working appliance 10a. Alternatively, it is also conceivable that the fluid transfer module 54a has a suction unit. The suction unit has, for example, a fan or the like in order to generate in particular an air flow for sucking off the removal material. It is conceivable that the suction unit is constructed as a vacuum cleaner or the like. The fluid transfer module 54a is arranged for connecting the tool unit 44a (especially the suction element 136a) to the suction unit. It is conceivable that the fluid transfer module 54a has at least one valve for functional control of the fluid transfer module 54a, especially in order to regulate (preferably permit and / or block) the fluid transfer through the fluid transfer module 54a. It is conceivable that the fluid transfer module 54a (especially the valve of the fluid transfer module 54a) is connected in control technology and / or data technology to a control unit 16a, preferably at least in the state where the fluid transfer module 54a is arranged on the robot-tool connection unit 48a.

[0080] Alternatively or additionally, it is conceivable that the fluid transfer module 54a is configured for transferring fluid (especially a liquid, preferably water and / or air) to the tool unit 44a arranged on the robot-tool connection unit 48a, for example for cleaning the tool and / or the object 68a to be machined, especially during machining by means of the machining unit 12a (especially the tool unit 44a). For example, the tool unit 44a has a blowing gun (not shown here) or the like, which is arranged for blowing the removal material out of the drill holes generated by means of the machining unit 12a, preferably by means of the air transferred via the fluid transfer module 54a.

[0081] Furthermore, alternatively or additionally, it can be envisaged that the fluid transfer module 54a is configured to fluid-technologically drive a tool unit 44a (in particular configured to be fluid-technologically drivable) arranged on the robot-tool connection unit 48a. For example, it can be envisaged that a pneumatically drivable tool unit 44a can be pneumatically driven by means of the fluid transfer module 54a or can be connected to a pneumatic drive unit via the fluid transfer module 54a. The pneumatic drive unit can be part of the autonomous working appliance 10a or is configured separately from the autonomous working appliance 10a. For example, it can also be envisaged that a hydraulically drivable tool unit 44a can be hydraulically driven by means of the fluid transfer module 54a or can be connected to a hydraulic drive unit via the fluid transfer module 54a. The hydraulic drive unit can be part of the autonomous working appliance 10a or is configured separately from the autonomous working appliance 10a.

[0082] The interface device 46a has a detection module 56a for identifying a tool unit 44a (in particular a hand-held power tool 122a) arranged on the robot-tool connection unit 48a. The detection module 56a is one of the above-mentioned interface modules. Alternatively, it can also be envisaged that the interface device 46a is configured without a detection module 56a. The detection module 56a is connected to the control unit 16a in a data-technological manner, in particular wirelessly and / or wired, at least in the state of being arranged on the robot-tool connection unit 48a. The detection module 56a can identify the tool unit 44a, for example, by means of RFID, mechanical coding, optical detection, etc., at least in the state where the tool unit 44a is arranged on the robot-tool connection unit 48a. The detection module 56a is configured, for example, to identify at least one tool type, serial number, etc. of the tool unit 44a (in particular the hand-held power tool 122a) when identifying the tool unit 44a.

[0083] Alternatively or additionally, it is conceivable that the interface device 46a has a material delivery module 58a for delivering materials to the tool unit 44a arranged on the robot-tool connection unit 48a. The material delivery module 58a is one of the above-mentioned interface modules. For example, the material delivery module 58a is configured to deliver expansion bolts, paint, adhesives, concrete, etc. It is conceivable that the material delivery module 58a is connected to a material reservoir (which is, for example, part of the autonomous working appliance 10a or is constructed separately from the autonomous working appliance 10a) or has a material reservoir itself. The material reservoir particularly has the materials to be transported to the tool unit 44a by the material delivery module 58a. For example, the materials can be delivered to the tool unit 44a through the material delivery module 58a by means of a transport unit (especially a pump, a compressor or the like). It is conceivable that the transport unit is part of the material delivery module 58a, part of the autonomous working appliance 10a or is constructed separately from the autonomous working appliance 10a. It is conceivable that the material delivery module has at least one valve for controlling the function of the material delivery module 58a, especially in order to regulate (preferably permit and / or block) the material transmission through the material delivery module 58a. It is conceivable that the material delivery module 58a (especially the valve of the material delivery module 58a) is connected to the control unit 16a in terms of control technology and / or data technology, preferably at least in the state where the material delivery module 58a is arranged on the robot-tool connection unit 48a.

[0084] The connection between the tool unit 44a and the robot-tool connection unit 48a can be established and / or released manually and / or at least partially automatically. It is conceivable that the autonomous working appliance 10a has a tool magazine (not shown here). Alternatively, it is conceivable that the tool magazine is constructed separately from the autonomous working appliance 10a and is preferably fixedly positioned in the working environment 26a. The tool magazine, for example, has a plurality of different tool units. The interface device 46a is configured such that the tool units from the tool magazine can be coupled to the robot-tool connection unit 48a manually and / or automatically. At least one mechanical connection between the tool unit 44a and the robot-tool connection unit 48a can be established, for example, by means of a snap connection, a clamping connection, a bayonet connection, etc. The snap connection can be realized, for example, by a snap hook and / or a ball lock. The connection between the robot-tool connection unit 48a and the tool unit 44a is preferably based on the error-proof principle. It is conceivable that the robot-tool connection unit 48a has an actuating motor or the like for automatically releasing the connection between the tool unit 44a and the robot-tool connection unit 48a. Alternatively or additionally, it is conceivable that the mechanical connection between the tool unit 44a and the robot-tool connection unit 48a can be automatically released by the mechanical contact of the tool unit 44a and / or the robot-tool connection unit 48a with an object.

[0085] The interface device 46a has a cleaning unit 60a. The cleaning unit 60a is arranged to at least partly automatically clean the robot-tool connection unit 48a and / or the tool unit 44a when the robot-tool connection unit 48a is connected to the tool unit 44a. The cleaning unit 60a is configured for cleaning in fluid technology. The cleaning unit 60a has a fluid channel 142a. The fluid channel preferably extends at least partly through the robot-tool connection unit 48a. By the tool unit 44a approaching the robot-tool connection unit 48a, an air flow can be generated in the fluid channel, which air flow can in particular be used for cleaning the tool unit 44a and / or the robot-tool connection unit 48a. Alternatively, it is also conceivable that the interface device 46a is constructed without a cleaning unit 60a. It is conceivable that the cleaning unit 60a is constructed as one of the interface modules.

[0086] Figure 4 Shows a schematic flow of a method for at least partly automatically machining an object 68a, in particular a schematic flow of a method for at least partly automatically producing a drill hole in the object 68a with the aid of an autonomous working implement 10a (in particular with the aid of a machining unit 12a).

[0087] In a method step, in particular in the classification step 100a, the test object 18a is classified as a positioning reference object 20a based on a comparison of the desired characteristic parameters of at least one test object 18a in the working environment of the machining unit 12a with the actual characteristic parameters of the at least one test object 18a.

[0088] In a method step, in particular in the checking step 98a, the need for additional positioning reference elements 22a is checked. Preferably, in particular in the checking step 98a, sub-regions 90a, 92a of the working environment 26a are identified with the aid of the control unit 16a, in which sub-regions the positioning of the machining unit 12a can be achieved based on the at least one test object 18a. In particular, it is preferably checked in the checking step 98a whether the positioning of the machining unit 12a can be achieved based on the at least one test object 18a classified as a positioning reference object 20a in sub-regions 90a, 92a (preferably at support sites 28a, 94a) related to the machining of the object 68a, in particular to the execution of the machining plan.

[0089] In a method step, especially in the assembly planning step 102a, the desired assembly position for the at least one additional positioning reference element 22a is determined by means of the control unit 16a, at least based on an examination of the need for the additional positioning reference element 22a. It is conceivable that in a method step, especially in the assembly planning step 102, the desired assembly position determined for the at least one additional positioning reference element 22a is output via an output unit, projected onto the desired assembly position in the working environment 26a, and / or stored in the working environment model.

[0090] In a method step, especially in the assembly step 134a, the at least one additional positioning reference element 22a is fastened to the desired assembly position of the additional positioning reference element 22a, for example manually by the user or automatically by the autonomous working device 10a (especially the processing unit 12a).

[0091] In a method step, especially in the working step 104a, the object 68a is machined by means of the processing unit 12a. Especially in the working step 104a, at least one drill hole is produced in the object 68a by means of the processing unit 12a. Especially in the working step 104a, when machining the object 68a and / or for positioning in the working environment, the processing unit 12a and / or the forward movement unit 14a are controlled based on the at least one test object 18a classified as a positioning reference object 20a and / or based on the at least one additional positioning reference element 22a.

[0092] Figure 5 Shows a schematic flow of a method for at least partially automatically machining an object 68a (especially for at least partially automatically producing drill holes in the object 68a by means of the autonomous working device 10a), especially Figure 4 the schematic flow of the working step 104a. In a method step, especially in an approval step 138a, based on at least one surface characteristic parameter of at least a part of the surface 84a of the object 68a, the machining step 158a planned for the object 68a is blocked or approved by the processing unit 12a.

[0093] In a method step, especially in a correction step 106a, based on a comparison of the information on obstacle detection in the machining area 86a from the processing unit 12a with the working environment model, the planned machining step is corrected.

[0094] In a method step, especially in the machining step 158a, the planned machining step 158a, which has been especially (if necessary) corrected in the correction step 106a, is executed.

[0095] In Figures 6 to 13Another embodiment of the present invention is shown. The following description and drawings are basically limited to the differences between the embodiments. In principle, with respect to components with the same reference, especially components with the same reference numerals, reference may also be made to other embodiments, especially Figures 1 to 5 the drawings and / or descriptions of the embodiments. To distinguish these embodiments, the letter "a" is placed after the reference numerals of the embodiments in Figures 1 to 5 . In the embodiments of Figures 6 to 13 , the letter "a" is replaced by the letters "b" to "e".

[0096] Figure 6 A system 36b is shown having an autonomous working implement and having at least one positioning reference element 22b. Alternatively, it is also conceivable that the working implement 10b is configured as a manual working implement 10b. The autonomous working implement 10b is configured as a construction site robot, especially a drilling robot. However, alternatively, it is also conceivable that the autonomous working implement 10b is configured as a construction site robot different from a drilling robot, for example, configured as a painting robot, configured as a window cleaning robot, configured as a floor cleaning robot, configured as an outdoor robot, such as a topsoil loosening robot, configured as a hedge trimming robot, configured as a snow removal robot, configured as a collection robot especially for collecting leaves, branches or the like, configured as a combination of these robots, or configured as other autonomous working implements 10b that are considered meaningful by those skilled in the art. The autonomous working implement 10b has a processing unit 12b. The processing unit 12b has a drilling unit 88b, especially configured as a drilling unit 88b. The autonomous working implement 10b has a forward movement unit 14b for moving the processing unit 12b forward. The autonomous working implement 10b has a control unit 16b for at least controlling the processing unit 12b.

[0097] The autonomous working implement 10b has a detection unit 30b arranged on the forward movement unit 14b for detecting the at least one positioning reference element 22b. The detection unit 30b has, for example, a theodolite, a stadimeter or the like for detecting the positioning reference element 22b. The detection unit 30b (especially a theodolite or a stadimeter) is configured for automatically detecting the positioning reference element 22b (especially by means of the control unit 16b). The positioning reference element 22b is, for example, configured as a reflective marker, especially a corner cube, a reflective film or the like.

[0098] The control unit 16b is configured to, based on the at least one positioning reference element 22b arranged in the working environment 26b, control the processing unit 12b and / or the advancing movement unit 14b to move the processing unit 12b and / or the advancing movement unit 14b in the working environment 26b and / or to process an object 68b by means of the processing unit 12b. However, alternatively or additionally, it is also conceivable that the detection unit 30b has a lidar unit, a stereo camera, a time-of-flight camera, a stripe-projection-based camera system, and / or other detection devices considered meaningful by those skilled in the art for positioning the autonomous working appliance 10b (especially the advancing movement unit 14b and / or the processing unit 12b).

[0099] The control unit 16b is configured to, based on the simultaneous localization and mapping (SLAM) method, evaluate the information detected by means of the detection unit 30b, preferably for moving the autonomous working appliance 10b (preferably the processing unit 12b and / or the advancing movement unit 14b) to the working position of the autonomous working appliance 10b (especially the advancing movement unit 14b). The working position of the autonomous working appliance 10b only has information about the position of the autonomous working appliance 10b (especially the advancing movement unit 14b). The working position does not have information about the orientation (especially the rotational orientation) of the processing unit 12b, preferably information about this part of the processing unit 12b. The working position is stored in the processing plan, especially in the working environment model. The control unit 16b is configured to, according to the processing plan and according to the information detected by means of the detection unit 30b, move the autonomous working appliance 10b (especially the processing unit 12b and / or the advancing movement unit 14b) to the working position for processing the at least one object 68b.

[0100] The control unit 16b is configured to determine at least the position and orientation of at least a part of the processing unit 12b based on at least the positioning reference element 22b detected by means of the detection unit 30b. Determining at least the position and orientation of this part of the processing unit 12b includes determining the position and all rotational orientations of this part of the processing unit 12b. This part of the processing unit 12b corresponds here exemplarily to the tool unit 44b of the processing unit 12b, especially the tool of the tool unit 44b (especially the tool arranged on the hand-held power tool of the tool unit 44b). The control unit 16b is configured to determine at least the position and orientation of this part of the processing unit 12b after moving the autonomous working appliance 10b (especially the processing unit 12b and / or the advancing movement unit 14b) to the working position, preferably with the position of the advancing movement unit 14b fixed.

[0101] The autonomous working device 10b has a height-adjustable working platform 32b. The working platform 32b is arranged at the forward movement unit 14b. The detection unit 30b is arranged on the working platform 32b. The manipulator unit 72b of the processing unit 12b is arranged on the working platform 32b. The working platform 32b can adjust its height relative to the base 150b on which the autonomous working device 10b (especially the forward movement unit 14b) is arranged. The autonomous working device 10b has a lifting unit 144b. By means of this lifting unit 144b, the height of the working platform 32b can be adjusted. The lifting unit 144b has a telescopic rod 146b. The telescopic rod 146b is configured as a hydraulic telescopic rod. Alternatively, it is also conceivable that the lifting unit 144b has more than one telescopic rod 146b. Additionally or alternatively, it is also conceivable that the lifting unit 144b has a scissor lift mechanism, a linear drive (such as a rack, a push chain, a ball screw drive, a linear motor or the like). The working platform 32b is connected to the forward movement unit 14b by means of the lifting unit 144b, especially the telescopic rod 146b. The lifting unit 144b is connected to the control unit 16b in terms of control technology, especially wirelessly and / or wired. The lifting unit 144b is part of the processing unit 12b. Alternatively, it is also conceivable that the working platform 32b is arranged on the manipulator unit 72b of the processing unit 12b, such that the working platform 32b can adjust its height by means of the manipulator unit 72b. The manipulator unit 72b is configured as a robotic arm. The manipulator unit 72b has a multi-axis kinematic device. The manipulator unit 72b has six degrees of freedom. However, alternatively, it is also conceivable that the manipulator unit 72b has less than six degrees of freedom.

[0102] The autonomous working device 10b has an inclinometer 34b. The inclinometer 34b is provided for determining the inclination relative to the installation plane 42b of the autonomous working device 10b (especially the forward movement unit 14b). The control unit 16b is provided for determining the position and orientation of at least this part of the processing unit 12b in the working environment model based on the measurement parameters obtained by means of the detection unit 30b and the inclinometer 34b. The inclinometer 34b can be configured as a mechanical inclinometer, an electrical inclinometer or a digital inclinometer.

[0103] The control unit 16b is provided for vertically orienting the manipulator unit 72b of the processing unit 12b by using at least one measurement parameter of the inclinometer 34b. The control unit 16b is provided for converting the coordinate system of the manipulator unit 72b to a vertical orientation according to the inclination of the manipulator unit 72b relative to the installation plane 42b determined by the inclinometer 34b. Preferably, when detecting the measurement parameters by means of the inclinometer 34b and / or the detection unit 30b to determine the position and orientation of at least this part of the processing unit, the autonomous working device 10b, especially the forward movement unit 14b, is located at a fixed position.

[0104] The control unit 16b is configured to process at least one measurement parameter of the inclinometer 34b to support the detection of the at least one positioning reference element 22b. The at least one measurement parameter of the inclinometer 34b can be supportively used in the automatic detection of the at least one positioning reference element 22b by the detection unit 30b with the aid of the control unit 16b.

[0105] The control unit 16b is configured to check the need for additional positioning reference elements 108b. The control unit 16b is configured to check and / or determine the need for additional positioning reference elements 108b according to the machining plan (in particular according to the at least one working position). The control unit 16b is configured to determine at least one need for additional positioning reference elements 108b according to the machining plan (preferably according to the at least one working position) and / or based on the information about the working environment 26b obtained by the detection unit 30b. The control unit 16b requires the additional positioning reference elements to determine the position and orientation of this part of the machining unit 12b in the entire working environment 26b or in the part of the working environment 26b related to machining the at least one object 68b. The extension scale of the part of the working environment 26b related to machining the at least one object 68b depends in particular on the machining plan, preferably the at least one working position.

[0106] The control unit 16b is configured to determine the desired mounting position of at least one additional positioning reference element 108b according to the check of the need for additional positioning reference elements 108b. For example, the autonomous working device 10b includes an output unit (not shown here). The output unit is configured as an optical output unit, an acoustic output unit, a tactile output unit or a combination thereof, for example. The output unit has a screen, a speaker, a light-emitting element (such as an LED) or the like, for example. It is conceivable that the output unit is configured to output the desired mounting position. For example, it is conceivable that the desired mounting position is displayed on the screen of the output unit and / or the output unit is configured to project the desired mounting position into the working environment 26b. Alternatively or additionally, it is also conceivable that the autonomous working device 10b (in particular the machining unit 12b) is configured to fasten the additional positioning reference element 108b at the desired mounting position at least partially automatically.

[0107] The control unit 16b is configured to determine the actual position of the additional positioning reference element 108b by means of a detection unit 30b (in particular a theodolite or a stadimeter). The control unit 16b is configured to store the actual position of the additional positioning reference element 108b on a storage element of the control unit 16b, in particular in a work environment model. The additional positioning reference element 108b can be used to position the autonomous working device 10b (in particular the processing unit 12b and / or the forward movement unit 14b) in the work environment 26b and / or to determine the position and orientation of at least this part of the processing unit 12b.

[0108] Figure 7 A schematic flow of a method for at least partially automatically machining an object 68b (in particular for at least partially automatically producing a drill hole in the object 68b by means of an autonomous working device 10b) is shown.

[0109] In a method step, in particular in the positioning step 160b, the autonomous working device 10b, in particular the forward movement unit 14b, is moved in the work environment 26b preferably by means of the control of the control unit 16b on the basis of the information about the work environment 26b detected by means of the detection unit 30b, in particular on the basis of the at least one positioning reference element 22b. In particular in the positioning step 160b, the autonomous working device 10b (preferably the forward movement unit 14b) is controlled by the control unit 16b on the basis of the information detected by means of the detection unit 30b so that the autonomous working device 10b is moved to the working position of the processing unit 12b. It is conceivable that, in particular in the positioning step 106b, the measurement parameters determined by means of the inclinometer 34b are processed by the control unit 16b in order to support the automatic detection of the at least one positioning reference element 22b by the detection unit 30b.

[0110] In a method step, in particular in the orientation determination step 110b, the position and orientation of at least this part of the processing unit 12b are determined at least on the basis of the positioning reference element 22b detected by means of the detection unit 30b arranged on the forward movement unit 14b. In particular in the case where the measurement parameters are detected by means of the inclinometer 34b and / or the detection unit 30b in order to determine the position and orientation of at least this part of the processing unit 12b, the autonomous working device 10b, in particular the forward movement unit 14b, is located at a fixed position, in particular at the working position.

[0111] In a method step, especially in working step 104b, an object 68b is machined by means of a machining unit 12b. In particular, in working step 104b, at least one drill hole is produced in the object 68b by means of the machining unit 12b. In particular, in working step 104b, when machining the object 68b, the machining unit 12b and / or the advancing movement unit 14b are controlled by the control unit 16b according to the position and orientation of at least this part of the machining unit 12b (especially determined in the orientation determination step 110b) in the working environment model.

[0112] Figure 8 Shown is an autonomous working implement 10c. Alternatively, it is also conceivable that the working implement 10c is configured as a manual working implement 10c. The autonomous working implement 10c is configured as a construction site robot, especially a drilling robot. However, alternatively, it can also be envisaged that the autonomous working implement 10c is configured as a construction site robot different from a drilling robot, for example, configured as a painting robot, configured as a window cleaning robot, configured as a floor sweeping robot, configured as an outdoor robot, such as a topsoil loosening robot, configured as a hedge trimming robot, configured as a snow removal robot, configured as a collection robot especially for collecting leaves, branches or the like, configured as a combination of these robots, or configured as other autonomous working implements 10c considered meaningful by a person skilled in the art. The autonomous working implement 10c has a machining unit 12c. The machining unit 12c is configured as a drilling unit.

[0113] The autonomous working implement 10c has an advancing movement unit 14c for the advancing movement of the machining unit 12c. The autonomous working implement 10c has a control unit 16c for at least controlling the machining unit 12c.

[0114] The autonomous working implement 10c has at least one detection unit 30c. The control unit 16c is configured to control the autonomous working implement 10c (in particular the forward movement unit 14c and / or the processing unit 12c) based on the information detected by means of the detection unit 30c. The detection unit 30c is at least partially configured as an optical detection unit. The detection unit 30c has, for example, at least one lidar unit for detecting the working environment 26c. Alternatively or additionally, it is also conceivable that the detection unit 30c has a stereo camera, a time-of-flight camera, a fringe projection-based camera system, and / or other detection devices that are considered meaningful by those skilled in the art. The control unit 16c is configured to evaluate the information detected by means of the detection unit 30c (in particular the lidar unit) based on the simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is in particular a method in robotics for synchronously determining the position and creating a map, wherein, in particular within this method, a virtual map of the environment and the spatial orientation of a movable unit (in particular the autonomous working implement 10c) within this virtual map are preferably determined simultaneously. The control unit 16c is configured to control the forward movement unit 14c based on the information about the working environment 26c detected by means of the detection unit 30c (preferably the lidar unit) when moving in the working environment 26c.

[0115] The autonomous working implement 10c has an inclinometer 34c. The inclinometer 34b is configured to determine the inclination with respect to the mounting plane 42c of the autonomous working implement 10c (in particular the forward movement unit 14c). The inclinometer 34c can be configured as a mechanical inclinometer, an electrical inclinometer, or a digital inclinometer.

[0116] The autonomous working implement 10c has a rangefinder 38c. The rangefinder 38c is configured as an optoelectronic rangefinder, in particular a laser interferometer. Alternatively, it is also conceivable that the rangefinder 38c is configured as an optical rangefinder. The rangefinder 38c is configured to determine the distance to an object in the working environment. The rangefinder 38c is arranged at the processing unit 12c. The control unit 16c is configured to determine the position and orientation of at least a part of the processing unit 12c in the working environment model based on the measurement parameters determined by means of the inclinometer 34c and the rangefinder 38c. Determining the position and orientation of at least this part of the processing unit 12c includes determining the position and all rotational orientations of this part of the processing unit 12c. This part of the processing unit 12c corresponds here exemplarily to the tool unit 44c of the processing unit 12c, in particular the tool of the tool unit 44c (for example a tool arranged on a hand-held power tool).

[0117] The control unit 16c is configured to orient the distance measuring device 38c by means of at least one measurement parameter of the inclinometer 34c. The control unit 16c is configured to vertically orient the manipulator unit 72c of the processing unit 12c by means of at least one measurement parameter of the inclinometer 34c. The control unit 16c is configured to convert the coordinate system of the manipulator unit 72c into a vertical orientation according to the inclination of the manipulator unit 72c with respect to the placement plane 42c determined by means of the inclinometer 34c. The control unit 16c is configured to, after converting the coordinate system of the manipulator unit 72c into a vertical orientation, control the processing unit 12c and / or the forward movement unit 14c for the movement of the processing unit 12c to the processing position of the processing unit 12c.

[0118] The processing position only has information about the position of the autonomous working device (in particular the processing unit 12c). The processing position does not at least contain information about the orientation (in particular the rotational orientation) of the processing unit 12c, preferably information about parts of the processing unit 12c. The processing position is stored in the processing plan, in particular in the work environment model. In the case of detecting measurement parameters by means of the inclinometer 34c and / or the distance measuring device 38c to determine the position and orientation of at least this part of the processing unit 12c, the autonomous working device 10c, in particular the forward movement unit 14c, is located at a fixed position.

[0119] The distance measuring device 38c is configured to detect measurement parameters in at least two different angular positions in order to determine the position and orientation of this part of the processing unit 12c in the work environment model in a state where the distance measuring device 38c is oriented by means of the inclinometer 34c. The distance measuring device 38c is in particular arranged in a state where it is oriented by means of the inclinometer 34c such that the detection direction of the distance measuring device 38c runs in a plane that is at least substantially perpendicular to the axis 40c when the manipulator unit 72c rotates about the axis 40c in a vertically oriented state of the manipulator unit 72c. The axis 40c runs in the vertical direction. The control unit 16c is configured to control the manipulator unit 72c to rotate about the axis 40c such that the distance measuring device 38c detects measurement parameters in the at least two different angular positions. The control unit 16c is configured to determine the actual position of at least one object classified as a positioning reference object 20c in the work environment model in the work environment 26c and in particular compare it with the desired position from the work environment model.

[0120] An object classified as a positioning reference object 20c can be, for example, a wall, an object to be processed, a ceiling, a floor, a facade, another (preferably fixed) building component, or a fixed (especially stationary) object in the working environment 26c. It is conceivable that the object can be automatically classified as a positioning reference object 20c by the autonomous working implement 10c and / or manually by the user. The classification of the object as a positioning reference object 20c is carried out by means of the control unit 16c, in particular by comparing the desired characteristic parameters of the object with the actual characteristic parameters of the object. The control unit 16c is set up to determine the deviation of the actual characteristic parameters from the desired characteristic parameters when comparing the desired characteristic parameters of the object with the actual characteristic parameters of the object. The control unit 16c is set up to classify the object as a positioning reference object 20c when the value of the deviation of the actual characteristic parameters from the desired characteristic parameters is within the tolerance range relative to the value of the desired characteristic parameters. If the value of the deviation of the actual characteristic parameters from the desired characteristic parameters is outside the tolerance range relative to the value of the desired characteristic parameters, the object is, in particular, excluded by the control unit 16c from the classification as a positioning reference object 20c. The tolerance range is defined during the running program and is, in particular, stored in the working environment model. It is conceivable that the tolerance range can be adapted, in particular manually by the operator and / or automatically by the control unit 16c, for example, according to the information stored in the working environment model. It is also conceivable that in the working environment model, different tolerance ranges are assigned to different objects in the working environment 26c.

[0121] The control unit 16c is set up to determine the normal of the positioning reference object 20c from the comparison of the actual position with the desired position. The control unit 16c is set up to use the actual position and its normal of the object classified as a positioning reference object 20c in the working environment 26c to determine the position and orientation of this part of the processing unit 12c in the working environment model. Preferably, the control unit 16c is set up to convert the overall coordinates from the processing plan into the coordinate system of the manipulator unit 72c, in particular into the coordinate system of at least this part of the processing unit 12, from the determined orientation and position of at least this part of the processing unit 12c. The control unit 16c is preferably set up to control the processing unit 12c and / or the forward movement unit 14c to process the object 68c according to the determined orientation and position of at least this part of the processing unit 12c.

[0122] The autonomous working device 10c has a height-adjustable working platform 32c. The working platform 32c is arranged on the forward movement unit 14c. A distance measuring device 38c is arranged on the working platform 32c. The distance measuring device 38c is arranged at the manipulator unit 72c, in particular at the free end 118c of the manipulator unit 72c. An inclinometer 34c is arranged on the working platform 32c. The inclinometer 34c is arranged on the manipulator unit 72c, in particular at the free end 118c of the manipulator unit 72c. Alternatively, it is also conceivable that the inclinometer 34c is arranged on the working platform 32c separately from the manipulator unit 72c (in particular the processing unit 12c), or that the inclinometer 34c is arranged at (in particular in the middle of) the housing 1152c of the autonomous working device 10c (in particular the forward movement unit 14c).

[0123] Figure 9 A schematic flow of a method for at least partially automatically machining an object (in particular for at least partially automatically producing a drill hole in the object by means of the autonomous working device 10c) is shown.

[0124] In a method step, in particular in the positioning step 160c, the autonomous working device 10c, in particular the forward movement unit 14c, is moved in the working environment 26c as a function of information about the working environment 26c detected by means of the detection unit 30c (preferably a lidar unit), preferably by means of the control of the control unit 16c. In particular in the positioning step 160c, the autonomous working device 10c (preferably the forward movement unit 14c) is controlled by the control unit 16c as a function of the information detected by means of the detection unit 30c (preferably a lidar unit) in order to move the autonomous working device 10c into the region of the machining position of the machining unit 12c.

[0125] In a method step, in particular in the detection step 112c, the distance measuring device 38c is oriented by means of the inclinometer 34c before detecting the measurement parameter. In particular in the detection step 112c, the distance measuring device 38c rotates about the axis 40c in order to detect the respective measurement parameter in the at least two angular positions. In particular in the detection step 112c, the distance measuring device 38c detects at least one measurement parameter in at least two different angular positions in the state oriented by means of the inclinometer 34c.

[0126] In particular when detecting the measurement parameter by means of the inclinometer 34c and / or the distance measuring device 38c in order to determine the position and orientation of at least this part of the machining unit 12c, the autonomous working device 10c, in particular the forward movement unit 14c, is located at a fixed position.

[0127] In a method step, especially in the orientation determination step 110c, the position and orientation of at least this part of the machining unit 12c in the working environment model are determined based on the measurement parameters obtained by means of the inclinometer 34c and the distance measuring instrument 38c.

[0128] In a method step, especially in the working step 104c, the object 68c is machined by means of the machining unit 12c. Especially in the working step 104c, at least one drill hole is produced in the object 68c by means of the machining unit 12c. Especially in the working step 104c, when machining the object 68c, the machining unit 12c and / or the feed motion unit 14c are controlled by the control unit 16c according to the position and orientation of at least this part of the machining unit 12c in the working environment model (especially determined in the orientation determination step 110c).

[0129] Figure 10 A system 36d with an autonomous working device 10d is shown. Alternatively, it is also conceivable that the working device 10d is configured as a manual working device 10d. The autonomous working device 10d is configured as a construction site robot, especially a drilling robot. However, alternatively, it is also conceivable that the autonomous working device 10d is configured as a construction site robot different from a drilling robot, such as a painting robot, a window cleaning robot, a floor sweeping robot, an outdoor robot, such as a soil loosening robot, a hedge trimming robot, a snow removal robot, a collection robot especially for collecting leaves, branches or the like, a combination of these robots, or other autonomous working devices 10d considered meaningful by those skilled in the art.

[0130] The autonomous working device 10d has a machining unit 12d. The machining unit 12d is configured as a drilling unit. The autonomous working device 10d has a feed motion unit 14d for the feed motion of the machining unit 12d. The autonomous working device 10d has a control unit 16d for at least controlling the machining unit 12d. The autonomous working device 10d is set up for at least partially automatically machining an object 68d, especially by means of the machining unit 12d. The autonomous working device 10d is hereby exemplarily set up for at least partially automatically producing a drill hole in the object 68d.

[0131] The processing unit 12d is set, for example, to process the object 68d at least according to a processing plan. The processing plan is stored, for example, on a storage element of the control unit 16d. A working environment model of the working environment 26d of the autonomous working device 10d (in particular the processing unit 12d) is stored on the control unit 16d (in particular the storage element of the control unit 16d). The working environment model is a building information model (BIM model) or the like. The processing plan is annotated in the working environment model. The control unit 16d is set to navigate the forward movement unit 14d and / or the processing unit 12d in the working environment 26d at least according to the processing plan and / or the working environment model.

[0132] The autonomous working device 10d has a detection unit 30d. The detection unit 30d is configured as an optical detection unit. The detection unit 30d has a camera 148d. The detection unit 30d, in particular the camera 148d, has an image sensor (not shown here).

[0133] It is conceivable that the control unit 16d is set to evaluate the information detected by the camera so that the autonomous working device 10d (in particular the processing unit 12d and / or the forward movement unit 14d) is positioned (in particular moved) in the working environment 26d (in particular relative to the working position). Additionally or alternatively, it is conceivable that the camera is set to detect surface characteristic parameters or information for determining surface characteristic parameters in a set processing area 86d of the object 68d. The working position of the autonomous working device 10d is the following position of the autonomous working device 10d (in particular the forward movement unit 14d) in the working environment 26d: at this position, the object 68d can be processed by the processing unit 12d, in particular with the aid of an optical positioning element 64d.

[0134] The system 36d has a projection unit 62d for at least generating the optical positioning element 64d. The optical positioning element 64d is configured as a line element. The optical positioning element 64d is formed by electromagnetic radiation (preferably visible light). The optical positioning element 64d is a laser line. The projection unit 62d has a line laser for generating the optical positioning element 64d. Alternatively or additionally, it is conceivable that the projection unit 62d has a projector or the like for generating the optical positioning element 64d. The optical positioning element 64d preferably has a straight course. However, alternatively, it is also conceivable that the optical positioning element 64d is configured as circular, dot-shaped, etc.

[0135] The projection unit 62d (in particular the projection section of the optical positioning element 64d) is oriented at the marking site 66d. The marking site 66d is defined by a marking element arranged in the working environment 26d (in particular on the object 68d to be machined). Alternatively or additionally, it is conceivable that the marking site 66d is stored in the working environment model. Here, the marking element is, by way of example, a drill hole. However, alternatively, it is also conceivable that the marking element is a reflective pen, a light-emitting element (such as an LED), a color marking, a shape marking, a combination thereof, or the like. It is conceivable that the marking element can be automatically placed or generated at the marking site 66d by the autonomous working device 10d (in particular the machining unit 12d). Alternatively, it is also conceivable that the marking element can be placed or generated at the marking site 66d by the user or by the user's manipulation of the autonomous working device 10d, or that the marking element can be generated or arranged at the marking site 66d using a device separate from the autonomous working device 10d (such as a drilling machine).

[0136] The projection unit 62d can, for example, be oriented at the marking site 66d by the user. However, alternatively, it is also conceivable that the projection unit 62d is configured to be automatically oriented (in particular without user intervention), for example by means of a detection unit for detecting the marking site 66d or the like. The projection unit 62d is constructed separately from the autonomous working device 10d. The projection unit 62d is provided for projecting an optical marking element 64d (in particular a line element) onto the machining area 86d and directly onto the detection unit 30d (in particular an image sensor), in particular simultaneously. The projection unit 62d is provided for projecting the optical positioning element 64d directly onto the detection unit 30d (preferably an image sensor). In particular, the projection unit 62d is configured and / or arranged such that the optical positioning element 64d does not encounter a reflecting surface or the like between the projection unit 62d and the detection unit 30d (in particular an image sensor).

[0137] The control unit 16d is provided for controlling the forward movement unit 14d and / or the machining unit 12d on the basis of the optical positioning element 64d projected directly onto the detection unit 30d (in particular an image sensor), in particular for machining the object 68d, preferably at at least one machining site of the object 68d. The control unit 16d is provided for controlling the forward movement unit 14d and / or the machining unit 12d such that the optical positioning element 64d can be detected by the detection unit 30d, preferably (preferably directly) projected onto the detection unit 30d. It is conceivable that information about the desired position of at least one machining site is stored in the machining plan, in particular in the working environment model. The machining site is in particular different from the marking site 66d.

[0138] The control unit 16d is configured to control at least the processing unit 12d and in particular, as required, the advancing movement unit 14d to process the object 68d along the processing line, in particular to produce a drill hole along the processing line. The at least one processing site is in particular located on the processing line. The processing line is predefined by the optical positioning element 64d in the working environment 26d. It is conceivable that information about the processing line, in particular information about the position of the processing line, is stored in the processing plan, preferably in the working environment model. The control unit 16d is configured to, when processing the object 38d along the processing line, in particular at the processing site, control the processing unit 12d and in particular, as required, the advancing movement unit 14d based on the optical positioning element 64d directly projected onto the detection unit (in particular an image sensor).

[0139] The processing unit 12d has a manipulator unit 72d. The tool unit 44d of the processing unit 12d is arranged on the manipulator unit 72d, in particular on the free end 118d of the manipulator unit 72d. The detection unit 30d is arranged on the manipulator unit 72d. The tool unit 44d is configured to process the object 68d. Here, the tool unit 44d is exemplarily configured to at least produce a drill hole.

[0140] The control unit 16d is configured to orient the manipulator unit 72d (in particular the tool unit 44d) based on the optical positioning element 64d. The control unit 16d is configured to orient the manipulator unit 72d, in particular the tool unit 44d, based on the positioning element 64d for preferably processing the object 68d along the processing line, preferably for processing the at least one processing site. The control unit 16d is for example configured to control the processing unit 12d and, as required, the advancing movement unit 14d such that the optical positioning element 64d directly projected onto the detection unit 30d is centered on the image sensor. By the control unit 16d controlling the processing unit 12d and / or the advancing movement unit 14d such that the optical positioning element 64d directly projected onto the detection unit 30d is centered on the image sensor, the manipulator unit 72d, in particular the tool unit 44d, can be oriented.

[0141] The image sensor has a rectangular sensor surface 162d. In Figure 10In it, the sensor surface 162d and the positioning element 64d centrally arranged on the image sensor (in particular the sensor surface 162d) are schematically presented. Alternatively, it is also conceivable that the sensor surface 162d is square, circular or any other surface shape considered meaningful by those skilled in the art. When the optical positioning element 64d is centrally arranged on the image sensor, the main extension axis of the optical positioning element 64d is perpendicular to the main extension axis of the sensor surface 162d and in particular runs parallel to the main extension plane of the sensor surface 162d. When the optical positioning element 64d projected onto the detection unit 30d is centrally arranged, the main extension axis of the optical positioning element 64d runs through the geometric center of the sensor surface 162d.

[0142] The optical positioning element 64d directly projected onto the detection unit 30d (in particular the image sensor) has a width. The width of the optical positioning element 64d directly projected onto the detection unit 30d (in particular the image sensor) runs perpendicular to the main extension axis of the optical positioning element 64d directly projected onto the detection unit 30d (in particular the image sensor). The center of the optical positioning element 64d directly projected onto the detection unit 30d (in particular the image sensor) is relative to this width. The control unit 16d is in particular arranged to use an algorithm for determining the center. The control unit 16d is for example arranged to apply this algorithm to the images recorded by means of the detection unit 30d (in particular the camera 148d). For example, in order to determine the center of the optical positioning element 64d directly projected onto the detection unit 30d (in particular the image sensor), the control unit 16d is configured to apply an algorithm similar to the method of Lu Yonghua, Zhang Jia, Li Xiaoyan et al. (see "A robust method for adaptive center extraction of linear structured light stripe. Transactions of Nanjing University of Aeronautics and Astronautics." 2020, 37(4), pp. 586 - 596).

[0143] The detection unit 30d has a band - pass filter 70d adapted to the positioning element 64d. The band - pass filter 70d is arranged to only allow the wavelength range of the optical positioning element 64d to pass through.

[0144] Figure 11Schematic flow of a method for at least partially automatically machining an object 68d (in particular for at least partially automatically producing a drill hole in the object 68d with the aid of a system 36d) is shown. In a method step, in particular in the marking step 114d, a marking element is arranged or generated at the marking site 66d. Preferably in the marking step 114d, the projection part of the optical positioning element 64d, in particular the projection unit 62d, is oriented at the marking site 66d, in particular at the marking element.

[0145] In a method step, in particular in the working step 104d, the machining unit 12d and / or the advancing movement unit 14d are controlled on the basis of the optical positioning element 64d which is directly projected onto the detection unit 30d and which is preferably configured as a line element. When machining the object 68d, preferably when machining the object 68d along a machining line, the machining unit 12d and / or the advancing movement unit 14d are controlled on the basis of the optical positioning element 64d which is directly projected onto the detection unit 30d and which is preferably configured as a line element.

[0146] Figure 12 A system 36e having an autonomous working implement 10e is shown. Alternatively, it is also conceivable that the working implement 10e is configured as a manual working implement 10e. The autonomous working implement 10e has a machining unit 12e. The machining unit 12e is configured as a drilling unit. The autonomous working implement 10e is configured as a construction site robot, in particular a drilling robot. However, alternatively, it is also conceivable that the autonomous working implement 10e is configured as a construction site robot different from a drilling robot, for example configured as a painting robot, configured as a window cleaning robot, configured as a floor sweeping robot, configured as an outdoor robot, for example a topsoil loosening robot, configured as a hedge trimming robot, configured as a snow removal robot, configured as a collection robot for collecting in particular leaves, branches or the like, configured as a combination of these robots, or configured as other autonomous working implements 10e which are considered meaningful by a person skilled in the art.

[0147] The autonomous working implement 10e has an advancing movement unit 14e for the advancing movement of the machining unit 12e. The autonomous working implement 10e has a control unit 16e for at least controlling the machining unit 12e. The autonomous working implement 10e is set up for at least partially automatically machining an object 68e (in particular with the aid of the machining unit 12e). Here, the autonomous working implement 10e is exemplarily set up for at least partially automatically producing a drill hole in the object 68e.

[0148] System 36e has at least two positioning elements 74e. However, alternatively, it is also conceivable that system 36e has a plurality of positioning elements 74e, in particular more than two positioning elements 74e. The positioning elements 74e are exemplary configured as reflective pens. However, it is also conceivable that the positioning elements 74e are configured as light-emitting elements (such as LEDs), color markers, shape markers, their combinations or the like. One of the two positioning elements 74e is arranged at the first marking site 66e. The other of the two positioning elements 74e is arranged at the second marking site 156e.

[0149] The marking sites 66e, 156e are each defined by marking elements arranged in the working environment 26e of the processing unit 12e (in particular on the object 68e to be processed). Additionally or alternatively, it is conceivable that the marking sites 66e, 156e are stored in the working environment model of the working environment of the processing unit 12e. The marking elements are drill holes. Alternatively, it is conceivable that the marking elements are light-emitting elements (such as LEDs), color markers, shape markers, their combinations or the like. The marking elements can in particular be automatically generated by the autonomous working device 10e (preferably the processing unit 12e) at the marking sites 66e, 156e. Alternatively, it is also conceivable that, by the user or by the user's manipulation of the autonomous working device 10e, the marking elements can be placed or generated at the marking sites 66e, 156e, or that the marking elements can be generated or arranged at the marking sites 66e, 156e using a device separate from the autonomous working device 10e (such as a drilling machine).

[0150] The control unit 16e is set up to control the forward movement unit 14e and / or the processing unit 12e, in particular for processing the object 68e, preferably at at least one processing site of the object 68e, based on the two positioning elements 74e (preferably based on the respective positions of the two positioning elements 74e). It is conceivable that information about the desired position of the at least one processing site is stored in the processing plan, in particular in the working environment model. The processing site is in particular different from the marking sites 66e, 156e.

[0151] Two positioning elements 74e define a machining line 76e. The machining line 76e is the shortest connecting line, preferably, between these two positioning elements 74e. The control unit 16e is configured to, especially after positioning the machining unit 12e and / or the advancing movement unit to the working position of the autonomous working implement 10e (preferably the advancing movement unit 14e and / or the machining unit 12e) to machine an object 68e along the machining line 76e (especially drill a hole in the object 68e), at least control the machining unit 12e, especially according to these two positioning elements 74e. The working position of the autonomous working implement 10e is the following position of the autonomous working implement 10e (preferably the advancing movement unit 14e) in the working environment 26e: at this position, especially the object 68e to be machined can be machined by the machining unit 12e (especially with the aid of the positioning elements 74e).

[0152] The autonomous working implement 10e has at least one detection unit 30e. The detection unit 30e is configured to detect at least one of the positioning elements 74e. The detection unit 30e is constructed as an optical detection unit. The detection unit 30e has a camera constructed as an infrared camera 80e, especially a near-infrared camera, especially for detecting the at least one positioning element 74e. The control unit 16e is configured to control the advancing movement unit 14e and / or the machining unit 12e such that the at least one positioning element 74e can be detected by the detection unit 30e.

[0153] It is conceivable that the control unit 16e is configured to evaluate the information detected by the camera of the detection unit 30e to position the autonomous working implement 10e (especially the machining unit 12e and / or the advancing movement unit 14e) in the working environment 26e (especially relative to the working position). Alternatively or additionally, it is conceivable that the camera of the detection unit is configured to detect surface characteristic parameters or information for obtaining surface characteristic parameters in the machining area.

[0154] The autonomous working device 10e has at least one additional detection unit 82e. The additional detection unit 82e is arranged to detect at least one additional positioning element 74e. The additional detection unit 82e has an infrared camera 154e, in particular a near-infrared camera. The infrared camera 80e of the detection unit 30e is constructed in the same way as the infrared camera 154e of the additional detection unit 82e. The detection unit 30e and the additional detection unit 82e are oriented at least substantially away from each other. The control unit 16e is arranged to control the forward movement unit 14e and / or the processing unit 12e such that the at least one additional positioning element 74e can be detected by the additional detection unit 82e. The control unit 16e is arranged to control the forward movement unit 14e and / or the processing unit 12e such that the two positioning elements 74e can be detected by the detection unit 30e and the additional detection unit 82e (preferably simultaneously).

[0155] The processing unit 12e has a manipulator unit 72e. The tool unit 44e of the processing unit 12e is arranged on the manipulator unit 72e, in particular on the free end 118e of the manipulator unit 72e. The detection unit 30e and / or the additional detection unit 82e are arranged on the manipulator unit 72e. The processing unit 12e (in particular the manipulator unit 72e) is preferably arranged at the forward movement unit 14e, preferably on the forward movement unit. The tool unit 44e is arranged to process the object 68e. The tool unit 44e is here exemplarily configured at least for producing a drill hole. The tool unit 44e is at least mechanically connected to the forward movement unit 14e via the manipulator unit 72e.

[0156] The autonomous working device 10e has a lighting unit 78e. The lighting unit 78e has, for example, at least one light source (not shown here), such as an LED, an incandescent lamp or the like. Preferably, the lighting unit 78e has a plurality of light sources (not shown here), preferably at least two light sources. The lighting unit 78e is arranged to support the detection unit 30e, in particular the infrared camera 80e of the detection unit 30e, when detecting the at least one positioning element 74e. The lighting unit 78e is arranged to support the additional detection unit 82e, in particular the infrared camera 154e of the additional detection unit 82e, when detecting the additional positioning element 74e. The control unit 14e is arranged to control the detection unit 30e and the lighting unit 78e in order to detect an image of the positioning element 74e with the active lighting of the lighting unit 78e by means of the detection unit 30e, and in particular when the relative position of the autonomous working device 10e (in particular the processing unit 12e and / or the forward movement unit 14e) with respect to the working environment 26e remains unchanged, in order to detect an image of the positioning element 74e by means of the detection unit 30e without the active lighting of the lighting unit 78e.

[0157] The control unit 14e is configured to control the additional detection unit 82e and the lighting unit 78e to detect an image of the additional positioning element 74e by means of the additional detection unit 82e in the case of active lighting by the lighting unit 78e, and in particular in the case where the relative position of the autonomous working device 10e (in particular the processing unit 12e and / or the advancing movement unit 14e) relative to the working environment 26e remains unchanged, so as to detect an image of the additional positioning element 74e by means of the additional detection unit 82e without the active lighting of the lighting unit 78e. When detecting the two positioning elements 74e by the detection unit 30e and the additional detection unit 82e, the autonomous working device 10e (which is the processing unit 12e and / or the advancing movement unit 14e) is located at a fixed position relative to the working environment 26e.

[0158] The control unit 16e is configured to process the images detected by the detection unit 30e into a final image in the case of active lighting by the lighting unit 78e and in the case without active lighting 78e, in which the background with respect to the positioning element 74e has been subtracted. The control unit 16e is configured to process the images detected by the additional detection unit 82e into a final image in the case of active lighting by the lighting unit 78e and in the case without active lighting 78e, in which the background with respect to the additional positioning element 74e has been subtracted.

[0159] The control unit 16e is configured to orient the processing unit 12e, in particular the manipulator unit 72e, preferably the tool unit 44e, according to the two positioning elements 74e, in particular for machining the object 68e along the machining line 76e. The control unit 16e is hereby exemplarily configured to control the processing unit 12e and / or the advancing movement unit 14e such that the positioning elements 74e detected by the detection unit 30e and the additional detection unit 82e are arranged centrally in the respectively detected (in particular finally determined) images, in particular in the respective image sensors. Since the control unit 16e controls the processing unit 12e and in particular controls the advancing movement unit 14e as required such that the positioning elements 74e detected by the detection unit 30e and the additional detection unit 82e are arranged centrally in the respectively detected (in particular finally determined) images, in particular in the respective image sensors, the manipulator unit 72e (in particular the tool unit 44e) can be oriented, in particular for machining the object 68e along the machining line 76e.

[0160] The images detected by means of the detection unit 30e and / or the additional detection unit 82e (in particular the sensor surface 162e of the respective image sensor) hereby has, for example, a rectangular landscape format. In Figure 12The sensor surface 162e of the detection unit 30e and a further detection unit 82e is schematically shown, wherein in particular the detected positioning element 74e is shown in a centrally detected arrangement on the sensor surface 162e. However, alternatively, it is also conceivable that the detection unit 30e and / or the further detection unit 82e are configured to record images in square format or rectangular portrait format. In the case where the positioning element 74e is centrally arranged in the respective image (in particular on the respective image sensor), the respective main extension axis of the positioning element 74e runs through the image center point of the respective image (in particular on the respective image sensor), in particular through the center point of the respective sensor surface 162e. In the case where the positioning element 74e is centrally arranged in the respective image (in particular on the respective sensor surface 162e), the respective main extension axis of the positioning element 74e runs perpendicular to the main extension axis of the respective image (in particular perpendicular to the main extension axis of the respective sensor surface 162e) in the respective image, preferably when the image (in particular of the image sensor) is in rectangular landscape format.

[0161] Figure 13 Schematically shows a flow for a method for at least partially automatically machining an object 68e (in particular for at least partially automatically producing a drill hole in the object 68e) by means of a system 36e.

[0162] In one method step, in particular in the assembly step 116e, a respective one of the two positioning elements 74e is placed at two marking sites 66e, 156e, preferably automatically by means of the machining unit 12e of the autonomous working device 10e.

[0163] In one method step, in particular in the detection step 112e, two positioning elements 74e defining the machining line 76e of the machining unit 12e are detected, in particular by means of the detection unit 30e and a further detection unit 82e.

[0164] In one method step, in particular in the working step 104e, the machining unit 12e and / or the forward movement unit 14e are controlled based on the positioning element 74e. In particular, the control of the machining unit 12e by means of the control unit 16e is oriented based on the two positioning elements 74e, preferably before machining the object 12e by the machining unit 12e. Preferably, the machining unit 12e is oriented such that the positioning element 74e is centrally arranged on the image detected by means of the detection unit 30e and a further detection unit 82e (in particular on the respective image sensors of the detection unit 30e and the further detection unit 82e).

[0165] When machining the workpiece 68e, it is preferred to control the machining unit 12e and / or the feed motion unit 14e according to the positioning element 74e when machining the workpiece 68e along the machining line 76e.

Claims

1. An autonomous or manually operated working implement (10b), in particular a robot, having a processing unit (12b), in particular a drilling unit, having an advancing movement unit (14b) for the advancing movement of the processing unit (12b) and having at least a control unit (16b) for controlling the processing unit (12b), characterized in that, A detection unit (30b) is provided which is arranged on the forward movement unit (14b) for detecting at least one positioning reference element (22b), wherein the control unit (16b) is arranged to determine the position and orientation of at least a part of the processing unit (12b) at least based on the positioning reference element (22b) detected by means of the detection unit (30b).

2. The self-acting or manually-operated working implement (10b) according to claim 1, characterized in that, A height-adjustable working platform (32b) is provided, the working platform is arranged on the forward movement unit (14b), and the detection unit (30b) is arranged on the working platform.

3. The autonomous or manually operated working appliance (10b) according to claim 1 or 2, characterized in that, An inclinometer (34b) is provided, wherein the control unit (16b) is arranged to determine the position and orientation of at least this part of the processing unit (12b) in the working environment model based on the measurement parameters obtained by means of the detection unit (30b) and the inclinometer (34b).

4. The autonomous or manual working implement (10b) according to any one of the preceding claims, characterized in that, An inclinometer (34b) is provided, wherein the control unit (16b) is arranged to process at least one measurement parameter of the inclinometer (34b) to support the detection of the at least one positioning reference element (22b).

5. An autonomous or manually-operated working implement (10b) according to any one of the preceding claims, characterized in that, The control unit (16b) is arranged to check the need for additional positioning reference elements (108b).

6. The self-acting or manually-operated working implement (10b) according to claim 5, characterized in that The control unit (16b) is arranged to determine the desired installation position of at least one additional positioning reference element (108b) based on the check of the need for additional positioning reference elements (108b).

7. The autonomous or manual working implement (10b) according to claim 6, characterized in that, The control unit (16b) is arranged to determine the actual position of the additional positioning reference element (108b) by means of the detection unit (30b).

8. An autonomous or manually-operated working implement (10b) according to any one of claims 5 to 7, characterized in that The processing plan of the processing unit (12b) is stored in the control unit (16b), wherein the need for positioning reference elements (22b, 108b) depends on the processing plan.

9. A system (36b) having an autonomous or manual working implement (10b) according to any one of claims 1 to 8 and at least having a positioning reference element (22b).

10. A method for at least partially automatically machining an object (68b), in particular a method for at least partially automatically producing a drill hole in an object (68b), preferably a building component, by means of an autonomous or manual working tool (10b), in particular an autonomous or manual working tool according to any one of claims 1 to 8 or by means of a system (36b), in particular a system according to claim 9, characterized in that The position and orientation of at least a part of the processing unit (12b) of the working implement (10b) are determined at least based on the positioning reference element (22b) detected by means of the detection unit (30b) arranged on the forward movement unit (14b) of the working implement (10b).

Images