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

Abstract

The invention relates to an autonomous or manual tool (10c), in particular a robot, comprising a machining unit (12c), in particular a drilling unit, an advancing unit (14c) for advancing the machining unit (12c), and a control unit (14c) at least for actuating the machining unit (12c). According to the invention, the working device (10c) has an inclination measuring device (34c) and a distance measuring device (38c), which are arranged on the machining unit (12c), the control unit (16c) is designed to determine the position and orientation of at least one part of the machining unit (12c) in a working environment model on the basis of the measured values determined by means of the inclination measuring device (34c) and the distance measuring device (38c).

Description

Background Art

[0001] An autonomous or manually operated working implement has been proposed, which has a processing unit, an advancing unit for advancing 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, an advancing unit for advancing the processing unit, and at least a control unit for controlling the processing unit.

[0003] The present invention proposes that the working implement has an inclinometer and a distance measuring instrument arranged on the processing unit, wherein the control unit is set to determine the position and orientation of at least a part of the processing unit in the working environment model based on the measured values obtained by means of the inclinometer and the distance measuring instrument.

[0004] Through this configuration of the working implement, particularly precise positioning of the processing unit can be achieved. Advantageously, it can be 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 an object can be achieved. Advantageously, collisions between the processing unit and objects in the working environment of the processing unit can be avoided 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 can also be considered that the working implement is configured as a construction site robot different from the drilling robot, such as a painting robot, a window cleaning robot, a floor sweeping robot, an outdoor working robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (particularly for collecting leaves, branches, etc.), or a combination of these robots or configured as other working implements that seem meaningful to those skilled in the art. The working implement is particularly configured differently from a stationary working implement. Preferably, the working implement is configured differently from an autonomous implement fixedly installed in a position, in particular an industrial robot. In particular, the working implement is set to advance autonomously. "Set" should be understood in particular as being specifically programmed, specifically designed, and / or specifically configured. An object being set for a specific function should be understood in particular as meaning that the object satisfies and / or implements the specific function in at least one application and / or operating state. The working implement is preferably configured as a mobile working implement. Advantageously, the working implement is configured to be drivable. However, alternatively, it can also be considered 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 arranged for at least partially automatically producing a drill hole in the object. The working implement is preferably arranged for autonomously machining the object, in particular for autonomously producing a drill hole in the object. "Arranged" should in particular be understood as being specifically designed, specifically configured and / or specifically equipped. The object being arranged for a specific function should in particular be understood as meaning that the object satisfies and / or implements the specific function in at least one application and / or operating state. The object is preferably a building component, such as a wall, ceiling, floor, facade, etc. However, alternatively, it may also be considered that the object is different from a building component, such as in particular a stationary, preferably static piece of furniture, etc.

[0007] The machining unit preferably has an operating unit, in particular a robotic arm. In particular, the machining unit has a tool unit, in particular an end effector. The tool unit is preferably arranged on the operating unit, preferably at the free end of the operating unit. The tool unit preferably has a tool receptacle for receiving a tool, a hand-held power tool, etc. The tool is particularly preferably constructed as a drill bit. However, alternatively, it may also be considered that the tool is constructed as a brush, a scraper, a grinding disc, a saw blade, a hammer or other tools that are meaningful to a person skilled in the art. It may be considered that the tool and / or the hand-held power tool is part of the tool unit. It may also be considered 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 constructed as a drilling machine. The hand-held power tool can be constructed as a commercially available hand-held power tool. The hand-held power tool can be constructed as a battery-operated hand-held power tool or a cable-connected hand-held power tool. Alternatively, it may also be considered that the hand-held power tool is constructed specifically for interacting with the machining unit. However, alternatively, it may also be considered that the hand-held power tool is constructed as a screwdriver, a jab saw, a cut-off grinder, a circular saw, a breaker hammer, a nail gun, a grinder or other hand-held power tools that are meaningful to a person skilled in the art. The operating unit preferably has six degrees of freedom. However, alternatively, it may also be considered that the operating unit has fewer than six degrees of freedom. The operating unit is preferably capable of being controlled by a control unit. Preferably, the control unit is arranged for controlling the machining unit, in particular the operating unit and / or the tool unit, preferably the tool and / or the hand-held power tool, when machining an object.

[0008] The forward unit is preferably arranged to generate a forward force. The processing unit, in particular the operating unit, is preferably arranged at the forward unit, preferably on the forward unit. The tool unit is preferably at least mechanically connected to the forward unit via the operating unit. The forward unit is in particular arranged to move the processing unit on a surface such as the floor, wall and / or ceiling. The forward unit is preferably arranged to move the working implement as a whole on the ground. The forward unit in particular has a chassis. The forward unit, in particular the chassis, for example has a chain unit, a roller unit, a wheel unit, a propeller unit or other forward devices meaningful to those skilled in the art or a combination thereof.

[0009] The chain unit in particular has at least one chain mechanism, preferably two chain mechanisms. The wheel unit for example includes at least one wheel, preferably two, three, advantageously four wheels. The roller unit for example includes at least one roller, preferably at least two rollers, advantageously at least three rollers and particularly preferably at least four rollers. In particular in a working implement configured as a drone, the forward unit includes at least one propeller unit or a similar unit. The propeller unit for example has at least one propeller, preferably at least two propellers, particularly preferably at least four propellers.

[0010] The forward unit preferably has at least one drive unit. In particular, the drive unit is arranged to drive the chassis, preferably the wheel unit, the roller unit, the chain unit, the propeller unit, etc. The drive unit in particular includes at least one electric motor, etc. The implement frame of the working implement, in particular the movement of the forward unit, is in particular coupled to the drive of the chassis, in particular the movement. By preferably driving the chassis by means of the drive unit, in particular the movement of the implement frame relative to the ground, in particular relative to the working environment, can be generated.

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

[0012] The working environment can be, for example, the interior area of a building, especially the exterior area of the building, etc. The processing unit is particularly configured to process an object at least according to a processing plan. The processing plan is, for example, recorded in the working environment model of the working environment. The working environment model is preferably a building information model (BIM model), etc. The processing plan is preferably stored on the storage element of the control unit. The working environment model is preferably stored on the storage element of the control unit. The control unit is particularly configured to navigate the advancing 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 can also be considered that the working environment model is stored on an external unit, 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 is, for example, configured as a smartphone, cloud storage, central computer, server, laptop, smart home system, etc. It can also be considered that the external unit has at least a part of the control unit.

[0013] The working implement preferably has at least one detection unit, especially a detection unit different from a distance measuring instrument and an inclination measuring instrument. Alternatively, it can be considered that the inclination measuring instrument and / or the distance measuring instrument is part of the detection unit. The control unit is preferably configured to control the working implement, especially the advancing unit and / or the processing unit, according to the information detected by the detection unit. The detection unit is preferably at least partially configured as an optical detection unit. The detection unit, for example, has at least one lidar unit for detecting the working environment. Alternatively or additionally, it can also be considered that the detection unit has a stereo camera, a time-of-flight camera, a stripe projection-based imaging system, and / or other detection devices that are meaningful to those skilled in the art. The control unit is preferably configured to analyze and evaluate the information detected by the detection unit, 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 simultaneously determining the position and creating a map, where, especially in this method, preferably a virtual map of the environment and the spatial position of the movable unit, especially the working implement, within the virtual map are determined simultaneously. The control unit is particularly configured to control the advancing unit during movement in the working environment according to the information detected by the detection unit, preferably the lidar unit. Alternatively or additionally, it can be considered that the control unit is configured to control the advancing unit during movement in the working environment according to the measured values obtained by the inclination measuring instrument and / or the distance measuring instrument.

[0014] The inclination measuring device is particularly set up for determining the inclination relative to the vertical plane of a working implement, in particular a feed unit. The inclination measuring device can be configured as a mechanical inclination measuring device, an electronic inclination measuring device or a digital inclination measuring device. The distance measuring device is preferably configured as an optoelectronic distance measuring device, in particular a laser interferometer. Alternatively, it can also be considered that the distance measuring device is preferably configured as an optical distance measuring device. The distance measuring device is preferably set up for determining the distance to an object in the working environment. Determining the position and orientation of at least one part of the machining unit preferably includes determining the position and all rotational orientations of this part of the machining unit. This part of the machining unit preferably corresponds to the tool unit of the machining unit, in particular the tool, for example the tool unit arranged on a hand-held power tool.

[0015] Furthermore, it is proposed that the control unit is set up for orienting the distance measuring device using at least one measured value of the inclination measuring device. Advantageously, the working implement, in particular the machining unit and / or the feed unit, can be positioned particularly efficiently, precisely and / or quickly. The control unit is in particular set up for vertically orienting the operating unit of the machining unit using at least one measured value of the inclination measuring device. The control unit is preferably set up for converting the coordinate system of the operating unit into a vertical orientation according to the inclination of the operating unit relative to the vertical plane determined by means of the inclination measuring device. The control unit is preferably set up for controlling the machining unit and / or the feed unit to move the machining unit to the machining position of the machining unit after the coordinate system of the operating unit has been converted into a vertical orientation. The machining position preferably only has information about the position of the working implement, in particular the machining unit. The machining position preferably has at least no information about the orientation, in particular the rotational orientation, of parts of the machining unit. The machining position is preferably stored in a machining plan, in particular in a working environment model. Preferably, when measuring values are detected by means of the inclination measuring device and / or the distance measuring device to determine the position and orientation of at least one part of the machining unit, the working implement, in particular the feed unit, is in a fixed position.

[0016] Furthermore, it is proposed that the distance measuring device is set up to detect measurement values in at least two different angular positions in a state where the distance measuring device is oriented by means of an inclinometer, in order to determine the position and orientation of this part of the processing unit in the working environment model. Advantageously, the measurement values of the working environment can be detected particularly precisely. The orientation and position of the processing unit, in particular the operating unit, in the working environment can be determined particularly precisely. Advantageously, the object can be machined particularly precisely by means of the processing unit, and particularly high working quality can be achieved. The distance measuring device is preferably arranged, particularly in a state where it is oriented by means of an inclinometer, such that the detection direction of the distance measuring device extends in a plane that is at least substantially perpendicular to the axis when the operating unit rotates about an axis, particularly in a state where the operating unit is vertically oriented by means of an inclinometer. "Substantially perpendicular" can be understood as the orientation of a direction relative to a reference direction, where this direction and the reference direction enclose an angle of 90°, particularly when observed in the projection plane, and this angle has a maximum deviation of particularly less than 8°, preferably less than 5° and particularly preferably less than 2°. The control unit is preferably set up to control the operating unit to rotate about this axis such that the distance measuring device detects measurement values in at least two different angular positions. The control unit is particularly set up to determine the actual position of at least one object in the working environment that is classified as a positioning reference object in the working environment and particularly to compare it with the target position in the working environment model. The object classified as a positioning reference object is preferably a wall in the working environment. Alternatively, the object classified as a positioning reference object can also be the object to be machined, particularly the ceiling, floor, facade, other preferably fixed building components or fixed, particularly stationary objects in the working environment. It can be considered that the object can be automatically classified as a positioning reference object by the working tool and / or manually by the user. The object is preferably classified as a positioning reference object by means of the control unit, particularly by comparing the target characteristic values and the actual characteristic values of the object. The control unit is particularly set up to determine the deviation between the actual characteristic values and the target characteristic values when comparing the target characteristic values and the actual characteristic values of the object. The control unit is preferably set such that when the deviation value between the actual characteristic values and the target characteristic values lies within the tolerance range of the target characteristic values, the object is classified as a positioning reference object. If the deviation value between the actual characteristic values and the target characteristic values lies outside the tolerance range of the target characteristic values, the object is particularly excluded from being classified as a positioning reference object by the control unit. The tolerance range is preferably defined in the running program, particularly stored in the working environment model. It can be considered that the tolerance range is adjustable, particularly manually by the operator and / or automatically by the control unit, for example, according to the information stored in the working environment model. It can also be considered that different tolerance ranges are assigned to different objects in the working environment in the working environment model. The control unit is particularly set up to determine the normal of the positioning reference object from the comparison of the actual position and the target position.The control unit is preferably set up to use the actual position and its normal of the object classified as the positioning reference object in the working environment to determine the position and orientation of at least this part of the processing unit in the working environment model. The control unit is preferably set up to convert the entire coordinates from the processing plan into the coordinate system of the operating unit, in particular into the coordinate system of at least this part of the processing unit, based on the determined orientation and position of at least this part of the processing unit. The control unit is preferably set up to control the processing unit and / or the advancing unit to process the object based on the determined orientation and position of at least this part of the processing unit.

[0017] Furthermore, it is proposed that the working implement has a height-adjustable working platform which is arranged on the advancing unit and on which a distance measuring device is arranged. Advantageously, it is possible to achieve a particularly flexible and at the same time precise machining of the object. The distance measuring device is preferably arranged on the operating unit, in particular on the free end of the operating unit. The inclination measuring device is in particular arranged on the working platform. The inclination measuring device is preferably arranged on the operating unit, in particular on the free end of the operating unit. Alternatively, it can also be considered that the inclination measuring device is arranged on the working platform independently of the operating unit, for example in the housing of the working implement, in particular of the advancing unit. The operating unit is in particular arranged on the working platform. The operating unit is preferably height-adjustable relative to the ground on which the working implement, in particular the advancing unit, is arranged. The working implement in particular has a lifting unit. Preferably, the working platform can be adjusted in height by means of the lifting unit. The lifting unit has, for example, a telescopic rod. The telescopic rod is, for example, constructed as a hydraulic telescopic rod. Alternatively, it can also be considered that the lifting unit has more than one telescopic rod. Furthermore, alternatively or additionally, it can be considered that the lifting unit has a scissor lift mechanism, a linear drive, such as a rack, a transmission chain, a ball screw drive mechanism, a linear motor, etc. The working platform is in particular connected to the advancing unit by means of the lifting unit, preferably a telescopic rod. Preferably, the control technology of the lifting unit is connected to the control unit, in particular wirelessly and / or wired. It can be considered that the lifting unit is part of the processing unit. Alternatively, it can also be considered that the working platform is arranged on the operating unit of the processing unit in such a way that the working platform can be adjusted in height by means of the operating unit.

[0018] Furthermore, the present invention also relates to a method for at least partially automatically processing an object, in particular the object described above, especially a method for at least partially automatically generating a drill hole in an object, preferably a building component, especially the building component described above, by means of an autonomous or manual working tool, especially the working tool described above. The present invention proposes to determine the position and orientation of at least a part of the processing unit of the working tool, especially the part described above, in the working environment model described above, especially according to the measured values obtained by means of the inclination measuring instrument described above of the working tool and the distance measuring instrument described above. This method can particularly accurately position the processing unit in the working environment. Advantageously, it can be realized that the position and orientation of the processing unit in the working environment can be accurately and / or reliably determined. Advantageously, particularly accurate autonomous processing of the object can be realized. Advantageously, it can be particularly reliably prevented that the processing unit collides with the objects in the working environment.

[0019] Furthermore, it is proposed that the distance measuring instrument is oriented by means of the inclination measuring instrument before the measured values are detected. It can be advantageously positioned particularly efficiently, accurately and / or quickly the working tool, especially the processing unit and / or the advancing unit.

[0020] Furthermore, it is proposed that the distance measuring instrument detects at least one measured value in at least two different angular positions in the state of being oriented by means of the inclination measuring instrument. Advantageously, the measured values of the working environment can be detected particularly accurately. The orientation and position of the processing unit, especially the operating unit, in the working environment can be particularly accurately determined. Advantageously, the object can be processed particularly accurately by means of the processing unit. Particularly high working quality can be achieved.

[0021] Furthermore, it is proposed that the distance measuring instrument rotates around the axis described above, especially the axis extending in the vertical direction, in order to respectively detect the measured values in at least two angular positions. Advantageously, the measured values of the working environment can be detected particularly accurately. The orientation and position of the processing unit, especially the operating unit, in the working environment can be particularly accurately determined. Advantageously, it can be realized that the object is processed particularly accurately by means of the processing unit. Particularly high working quality can be achieved.

[0022] The working tool according to the present invention and / or the method according to the present invention are not limited to the applications and embodiments described above. The working tool according to the present invention and / or the method according to the present invention can especially have a quantity deviating from the quantity of the respective elements, components and units and method steps described herein in order to meet the working modes described herein. In addition, within the value ranges given in this disclosure, the values located within the extreme values should also be regarded as disclosed and can be used arbitrarily. Description of the Drawings

[0023] Further advantages result from the following figures. Embodiments of the invention are shown in the figures. The figures, the description and the claims contain a plurality of combined features. A person skilled in the art can also consider the features separately in a targeted manner and summarize them into other meaningful combinations. The figures show:

[0024] Figure 1 : A schematic view of a self-operating device and an object to be processed;

[0025] Figure 2 : A schematic top view of a self-operating device in a working environment;

[0026] Figure 3 : A schematic view of a part of a self-operating device with an interface device;

[0027] Figure 4 : A flowchart of a method for at least partially automatically processing an object;

[0028] Figure 5 : A flowchart of another method for at least partially automatically processing an object;

[0029] Figure 6 : A schematic view of a system with a self-operating device (first alternative embodiment) and a positioning reference element and an object to be processed;

[0030] Figure 7 : For by means of Figure 6 A flowchart of a method for at least partially automatically processing an object with a self-operating device;

[0031] Figure 8 : A schematic view of a self-operating device (second alternative embodiment) and an object to be processed;

[0032] Figure 9 : For by means of Figure 8 A flowchart of a method for at least partially automatically processing an object with a self-operating device;

[0033] Figure 10 : A schematic view of a system with a self-operating device (third alternative embodiment) and a projection unit and an object to be processed;

[0034] Figure 11 : For by means of Figure 10 A flowchart of a method for at least partially automatically processing an object with a system;

[0035] Figure 12 : A schematic view of a system with a self-operating device (fourth alternative embodiment) and at least two positioning elements and an object to be processed;

[0036] Figure 13 : For by means ofFigure 12 Flowchart of a method for at least partially automatically processing an object by a system Detailed implementation

[0037] Figure 1 A system 36a with an autonomous working implement 10a is shown. Alternatively, it can also be considered that the working implement 10a is configured as a manual working implement 10a. The autonomous working implement 10a is configured as a construction robot, especially a drilling robot. However, alternatively, it can also be considered that the autonomous working implement 10a is configured as a construction robot different from a drilling robot, such as a painting robot, a window cleaning robot, a floor cleaning robot, an outdoor area robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (especially for collecting leaves, branches, etc.), or a combination of these robots or other autonomous working implements 10a that seem meaningful to those skilled in the art. The autonomous working implement 10a is different from a fixed autonomous working implement configuration. The autonomous working implement 10a is different from an autonomous implement fixedly installed at a position, especially an industrial robot. The autonomous working implement 10a is arranged for autonomous advancement. The autonomous working implement 10a is configured as a mobile autonomous working implement. The autonomous working implement 10a is configured to be able to travel. However, alternatively, it can also be considered that the autonomous working implement 10a is configured as a drone.

[0038] The autonomous working implement 10a is arranged for at least partially automatically processing an object 68a. The autonomous working implement 10a is hereby, for example, arranged for at least partially automatically generating a drill hole in the object 68a. The autonomous working implement 10a is arranged for autonomously processing the object 68a, especially for autonomously generating a drill hole in the object 68a. The object 68a is a building component, especially a ceiling. Alternatively, it can also be considered that the object 68a is a wall, a floor, a facade, furniture, etc.

[0039] The autonomous working implement 10a has a processing unit 12a. The processing unit 12a has a drilling unit 88a, especially 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 the 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 device 10a, in particular 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-operated hand-held power tool or a cable-connected hand-held power tool. Alternatively, it can also be considered that the hand-held power tool 122a is configured to cooperate specifically with the processing unit 12a. Alternatively, it can also be considered that the hand-held power tool 122a is configured as a screwdriver, a jab saw, a rivet gun, a slot milling cutter, a cutting and grinding machine, a circular saw, a breaker hammer, a nail gun, a grinding machine or other hand-held power tools that seem meaningful to those skilled in the art. Alternatively or additionally, it can be considered that the tool receiving part 120a can be set to receive tools etc. The tool is configured, for example, as a drill bit, a brush, a scraper, a grinding disc, a saw blade, a hammer or other tools that seem meaningful to those skilled in the art. It can be considered that the tool is part of the tool unit 44a. Furthermore, alternatively or complementarily, it can be considered that the tool unit 44a is configured for rotationally driving or oscillatingly driving the tool etc.

[0040] In the state where the hand-held power tool 122a is fastened to the tool receiving part 120a, the tool receiving part 120a of the tool unit 44a has, for example, a two-point fastening part with the hand-held power tool 122a. Alternatively, it can be considered that in the state where the hand-held power tool 122a is fastened to the tool receiving part 120a, the tool receiving part 120a has a single-point fixing part or at least a three-point fixing part. The tool receiving part 120a preferably has a preferably damped spring unit (not shown here), by means of which the hand-held power tool 122a and / or the tool is connected to the tool receiving part 120a in the state of being arranged on the tool receiving part 120a. It can be considered that the damping of the spring unit is adjustable. The spring unit has, for example, at least one spring element, in particular a helical spring, a leaf spring, a rubber-elastic element etc.

[0041] The processing unit 12a has an operating unit 72a. The operating unit 72a is configured as a robot arm. The operating unit 72a has a multi-axis motion mechanism. The operating unit 72a has six degrees of freedom. However, alternatively, it can also be considered that the operating unit 72a has less than six degrees of freedom. The operating unit 72a can be controlled by the control unit 16a. The control unit 16a is set to control the processing unit 12a, preferably the operating unit 72a and / or the tool unit 44a, preferably to control the hand-held power tool 122a when processing the object 68a.

[0042] The autonomous working device 10a has an advancing unit 14a for advancing the processing unit 12a. The advancing unit 14a is arranged to generate an advancing force. The processing unit 12a, in particular the operating unit 72a, is arranged at, in particular on, the advancing unit 14a. The tool unit 44a is at least mechanically connected to the advancing unit 14a via the operating unit 72a. The advancing unit 14a is arranged to move the processing unit 12a on a ground surface 150a, such as a floor, wall and / or ceiling. The advancing unit 14a is arranged to move the autonomous working device 10a as a whole above the ground surface 150a. The advancing unit 14a has a chassis 128a. The advancing unit 14a, in particular the chassis 128a, has a wheel unit 124a. The wheel unit 124a includes four wheels 126a (only two of the four wheels 126a are shown in Figure 1 ). 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 advancing unit 14a has a chain unit, a roller unit, a propeller unit or other advancing devices meaningful to those skilled in the art or combinations thereof. The chain unit in particular has at least one chain running mechanism, preferably at least two chain running mechanisms. The roller unit includes, for example, at least one roller, preferably at least two rollers, more preferably at least three rollers, particularly preferably at least four rollers. In particular, when the autonomous working device 10a is configured as a drone, the advancing unit 14a includes at least one propeller unit or the like for advancing. The propeller unit has, for example, at least one propeller, preferably at least two propellers, particularly preferably at least four propellers.

[0043] The advancing unit 14a has at least one drive unit (not shown here). The drive unit is arranged to drive the chassis 128a, in particular the wheel unit 124a. The drive unit includes at least one electric motor or the like. The movement of the device frame 130a of the autonomous working device 10a, in particular the movement of the advancing unit 14a, is coupled to the drive, in particular the movement, of the chassis 128a. The movement of the device frame 130a can be generated by the chassis 128a preferably driven by the drive unit.

[0044] The autonomous working device 10a has a control unit 16a for at least controlling the processing unit 12a. The movement of the device frame 130a depends on the control by the control unit 16a. The drive unit is arranged to drive the chassis 128a, in particular according to the control by the control unit 16a, so that the device frame 130a makes translational and / or rotational movements. The control unit 16a particularly includes at least one processor, a storage element and 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 operating unit 72a, can be controlled by the control unit 16a.

[0045] The autonomous working device 10a has a work platform 32a with adjustable height. Alternatively, it can also be considered that the autonomous working device 10a is configured with a work platform 32a of non-adjustable height. The work platform 32a is arranged on the advancing unit 14a. The operating unit 72a is arranged on the work platform 32a. The work platform 32a is height-adjustable relative to the ground 150a on which the autonomous working device 10a, in particular the advancing unit 14a, is arranged. The autonomous working device 10a has a lifting unit 144a. With the aid of the lifting unit 144a, the work platform 32a is height-adjustable. The lifting unit 144a has a telescopic rod 146a. The telescopic rod 146a is configured as a hydraulic telescopic rod. Alternatively, it can also be considered that the lifting unit 144a has a plurality of telescopic rods 146a. In addition, alternatively or additionally, it can be considered that the lifting unit 144a has a scissor lift mechanism, a linear drive (such as a rack, a transmission chain, a ball screw drive mechanism, a linear motor, etc.). The work platform 32a is connected to the advancing unit 14a by the lifting unit 144a, in particular by the telescopic rod 146a. The lifting unit 144a is connected to the control unit 16a in terms of control technology, in particular wirelessly and / or wired. The lifting unit 144a is part of the processing unit 12a. For example, alternatively, it can also be considered that the work platform 32a is arranged on the operating unit 72a of the processing unit 12a, such that the work platform 32a can be height-adjusted with the aid of the operating unit 72a.

[0046] The control unit 16a is set to classify the inspection object 18a as a positioning reference object 20a at least based on the comparison of the target characteristic value of at least one inspection object 18a with the actual characteristic value of at least one inspection object 18a in the working environment 26a of the processing unit 12a. The working environment 26a is here, for example, the interior area of a building. Alternatively, it can also be considered that the working environment is an external area, in particular the external area of a building, etc. The inspection object 18a is a wall in the working environment 26a of the processing unit 12a. The inspection object 18a can alternatively also be an object 68a, in particular a ceiling, a floor, other preferably fixed building components or a fixed, in particular stationary, object in the working environment 26a.

[0047] The target characteristic value of the inspection object 18a has at least one information regarding the target position of the inspection object 18a. Alternatively or additionally, it can be considered that the target characteristic value of the inspection object 18a has information regarding at least one dimension of the inspection object 18a, in particular height and / or width, the material characteristic value of the inspection object 18a, the surface characteristic value, such as flatness, the temperature characteristic value, the humidity characteristic value, their combinations, etc. The target characteristic value is stored in the storage element of the control unit 14a, in particular in the work environment model of the work environment 26a. The work environment model is a building information model (BIM) or a similar model. In the work environment model, it is understood which objects in the work environment 26a can be regarded as the inspection object 18a. The work environment model is stored in the storage element of the control unit 16a. Alternatively, it can also be considered that the work environment model is stored in an external unit (not shown here), where the external unit can be preferably connected to the autonomous working device 10a in a data technology manner, in particular wirelessly and / or wired. The external unit can be configured, for example, as a smartphone, a cloud storage, a central computer, a server, a laptop, a smart home system, etc. It can also be considered that the external unit has at least a part of the control unit 16a. The processing unit 12a is arranged to process at least the object 68a according to a processing plan. The processing plan is stored, for example, in the storage element of the control unit 16a. The processing plan is recorded, for example, in the work environment model. The control unit 16a is arranged to navigate at least the advancing unit 14a and / or the processing unit 12a based at least on the processing plan and / or the work environment model in the work environment 26a.

[0048] 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 can also be considered that the detection unit 30a is arranged on the processing unit 12a or on the advancing unit 14a. The detection unit 30a is configured to detect the actual characteristic values of the inspection object 18a. The control unit 16a is configured to control the autonomous working device 10a, in particular the advancing unit 14a and / or the processing unit 12a, on the basis of the information detected by means of the detection unit 30a, preferably when positioning in the working environment 26a, in particular when positioning in the working environment 26a on the basis of a processing plan and / or a 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 can be considered that the detection unit 30a has a stereo camera, a time-of-flight camera, a fringe projection-based imaging system and / or other detection devices that appear meaningful to a person skilled in the art. The detection unit 30a is configured to detect the actual characteristic values of the inspection object 18a or to obtain information about the actual characteristic values of the inspection object 18a. The control unit 16a is configured to analyze and evaluate the information detected by means of the detection unit 30a, in particular the lidar unit, on the basis of a simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is in particular a method in robotics for simultaneously determining the position and creating a map, wherein, in particular in this method, preferably a virtual map of the environment and the spatial orientation of a movable unit, in particular the autonomous working device, within the virtual map are determined simultaneously.

[0049] The control unit 16a is configured to control the processing unit 12a on the basis of at least one inspection object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the advancing unit 14a on the basis of the inspection object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the processing unit 12a, in particular the operating unit 72a and / or the tool unit 44a and / or the advancing unit 14a, on the basis of the inspection object 18a classified as a positioning reference object 20a. The control unit 16a is configured to control the processing unit 12a and / or the advancing unit 14a on the basis of the inspection object 18a classified as a positioning reference object 20a in order to position in the working environment 26a, in particular when advancing the processing unit 12a and / or the advancing unit 14a. The control unit 16a is configured to control the processing unit 12a and / or the advancing unit 14a on the basis of the inspection object 18a classified as a positioning reference object 20a when processing the object 68a by means of the processing unit 12a.

[0050] The control unit 16a is configured to ignore the inspection object 18a that is classified as excluded from the positioning reference object 20a due to the comparison of the actual characteristic value of the inspection object 18a with the target characteristic value of the inspection object 18a when positioning the processing unit 12a and / or the advancing unit 14a, especially when advancing. The control unit 16a is configured to ignore the inspection object 18a that is classified as excluded from the positioning reference object 20a due to the comparison of the actual characteristic value of the inspection object 18a with the target characteristic value of the inspection object 18a when processing the object 68a by the processing unit 12a.

[0051] The control unit 16a is configured to determine the deviation between the actual characteristic value and the target characteristic value when comparing the target characteristic value of the inspection object 18a with the actual characteristic value of the inspection object 18a. If the deviation value between the actual characteristic value and the target characteristic value is within the tolerance range of the target characteristic value, the control unit 16a classifies the inspection object 18a as the positioning reference object 20a. If the deviation value between the actual characteristic value and the target characteristic value is outside the tolerance range of the target characteristic value, the control unit 16a excludes classifying the inspection object 18a as the positioning reference object 20a. The tolerance range is defined especially in the running program and especially stored in the working environment model. It is conceivable that the tolerance range is adjustable, 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.

[0052] The control unit 16a is configured to identify sub-regions 90a, 92a of the working environment 26a at least based on the classification of at least one inspection object 18a, in which the processing unit 12a can be positioned based on at least one inspection object 18a. If, for example, at least one inspection object 18a that is classified as the positioning reference object 20a by the control unit 16a can be detected by the detection unit 30a in one of the sub-regions 90a, 92a, then in this sub-region, preferably with the help of the control unit 16a, the processing unit 12a can be positioned based on the inspection object 18a. If, for example, in the other sub-region of the sub-regions 90a, 92a of the working environment, there is no inspection object 18a that can be detected by the detection unit 30a and can be classified as the positioning reference object 20a by the control unit 16a, then it is not possible to achieve a particularly accurate positioning of the processing unit 12a based on the positioning reference object 20a by the control unit 16a in this other sub-region of the sub-regions 90a, 92a.

[0053] Figure 2Exemplarily, a sub-region 90a of the working environment 26a is shown, in which at least one inspection object 18a classified as a positioning reference object 20a by the control unit 16a can be detected by the detection unit 30a, such that in the sub-region 90a, the processing unit 12a can be positioned based on at least one inspection object 18a. Another sub-region 92a of the working environment 26a does not have an inspection object 18a that can be detected by the detection unit 30a and classified as a positioning reference object 20a by the control unit 16a, such that the positioning of the processing unit 12a in the other sub-region 92a is excluded by the control unit 16a based on the inspection object 18a, in particular based on the inspection object 18a classified as a positioning reference object 20a.

[0054] The control unit 16a is set up 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 of the processing unit 12a required for the processing object 68a on the support parts 28a, 94a. The support parts 28a, 94a are stored in the working environment model. The support parts 28a, 94a constitute positions that can enable the autonomous positioning and / or autonomous operation of the autonomous working device 10a, in particular the processing unit 12a and / or the advancing unit 14a, in the entire working area 26a if the autonomous working device 10a, in particular the processing unit 12a and / or the advancing unit 14a, can be positioned on the support parts 28a, 94a. In particular, the autonomous operation and / or autonomous navigation of the autonomous working device 10a, preferably the processing unit and / or the advancing unit, for the processing object, preferably for the execution of the processing plan. The control unit 16a is set up to at least on the support parts 28a, 94a, in particular based on the information of the working environment 26a detected by the detection unit 30a, to check whether the autonomous working device 10a, in particular the processing unit 12a and / or the advancing unit 14a, can be positioned on the support parts 28a, 94a based on at least one inspection object 18a that can be classified as a positioning reference object 20a.

[0055] The control unit 16a is set up to check the need for additional positioning reference elements 22a. The control unit 16a is set up to determine the need for additional positioning reference elements 22a for sub - regions 90a, 92a of the working environment 26a (where positioning the processing unit 12a based on at least one inspection object 18a that can be classified as a positioning reference object 20a is excluded), in particular to determine the number of additional positioning reference elements 22a required for positioning the processing unit 12a in these sub - regions 90a, 92a (where in particular positioning the processing unit 12a based on at least one inspection object 18a that can be classified as a positioning reference object 20a is excluded). In particular, the control unit 16a is set up to determine the need for additional positioning reference elements 22a for the support parts 28a, 94a of the working environment 26a (on which positioning the processing unit 12a based on at least one inspection object 18a that can be classified as a positioning reference object 20a is excluded), in particular to determine the number of additional positioning reference elements 22a required for positioning the processing unit 12a on the support parts 28a, 94a (on which in particular positioning the processing unit 12a based on at least one inspection object 18a that can be classified as a positioning reference object 20a is excluded).

[0056] It can be considered 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 multiple additional positioning reference elements 22a. The need for additional positioning reference elements 22a depends on the processing plan. The additional positioning reference elements 22a are objects specifically constructed for positioning. The additional positioning elements 22a are constructed as reflective markers, in particular prisms, reflective foils, etc.

[0057] The detection unit 30a is set up to detect the additional positioning reference elements 22a. The control unit 16a is set up to, in particular when needed, control the processing unit 12a and / or the advancement unit 14a based on the additional positioning reference elements 22a installed in the working environment 26a to position the processing unit 12a and / or the advancement unit 14a in the working environment 26a and / or to process the object 68a by the processing unit 12a.

[0058] The sub - regions 90a, 92a of the working environment 26a, in particular the support parts 28a, 94a (on / wherein the autonomous working appliance 10a, preferably the processing unit 12a and / or the advancement unit 14a, can be positioned by the control unit 16a based on at least one inspection object 18a classified as a positioning reference object 20a) do not require additional positioning reference elements 22a.

[0059] The control unit 16a is configured to determine a target installation position for at least one additional positioning reference element 22a based on an inspection of the need for the additional positioning reference element 22a. The autonomous working appliance 10a includes, for example, 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 display screen, a light-emitting element (such as a light-emitting diode or a laser), a speaker, etc. It can be considered that the output unit is configured to output the target installation position. For example, it can be considered that the target installation position is displayed on the display screen of the output unit and / or the output unit is configured to project the target installation position into the working environment 26a. Alternatively or additionally, it can also be considered that the autonomous working appliance 10a, in particular the processing unit 12a, is configured to fasten the additional positioning reference element 22a at least partially automatically at the target installation position.

[0060] The autonomous working appliance 10a has an interface device 46a. The tool unit 44a is connected to the operating unit 72a of the autonomous working appliance 10a, in particular 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, in particular the operating unit 72a. The robot-tool connection unit 48a is arranged on the operating unit 72a, preferably on the free end 118a of the operating unit 72a. The tool unit 44a, in particular the interface device 46a, is arranged on the free end 118a of the operating unit 72a. It can be considered that the robot-tool connection unit 48a is configured for rotational drive or oscillatory drive of the tool unit 44a, in particular the tool, etc.

[0061] The control unit 16a is configured to prevent or allow a machining step 158a planned for the object 68a by the machining unit 12a based on at least one surface characteristic value 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. If the surface characteristic value determined, in particular, for this part of the surface 84a is within the boundary region of the target value of the surface characteristic value of this part of the surface 84a, the control unit 16a is configured to allow the planned machining step 158a. If the surface characteristic value determined, in particular, for this part of the surface 84a is outside the boundary region of the target value of the surface characteristic value of this part of the surface 84a, the control unit 16a is configured to prevent the planned machining step 158a. The target value of the surface characteristic value of this part of the surface 84a and / or the associated boundary region are stored, for example, in a storage element of the control unit 16a, in particular in the working environment model.

[0062] The surface characteristic value includes at least one piece of information about the flatness of this part of the surface 84a. The flatness of a surface corresponds in particular to the distance value between two planes arranged parallel to each other, which are arranged at the minimum distance relative to each other, and the entire surface is arranged within these two planes. Additionally, alternatively or additionally, it can be considered that the surface characteristic value has information about the material, etc. of this part of the surface 84a. The surface characteristic value or the information for obtaining the surface characteristic value can be detected by the detection unit 30a, in particular the lidar unit of the detection unit 30a. The orientation of the detection unit 30a is preferably changeable, in particular adjustable. The detection unit 30a preferably 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 can be considered that the detection unit 30a is arranged on the processing unit 12a, in particular on the operating unit 72a, such that the orientation of the detection unit 30a can be changed, in particular adjusted, by means of the operating unit 72a. The control unit 16a is configured to adjust the orientation of the detection unit 30a, at least for detecting at least one surface characteristic value, in particular by controlling the adjustment unit. Alternatively, it can be considered that the autonomous working device 10a has another detection unit, in particular another lidar unit, etc., which is independent of the detection unit 30a, for detecting the surface characteristic value or obtaining the information for the surface characteristic value.

[0063] If the flatness determined for this part of the surface 84a is within the boundary region of the target value of the flatness of this part of the surface 84a, the control unit 16a is configured to allow the planned processing step 158a. If the flatness determined for this part of the surface 84a is outside the boundary region of the target value of the flatness of this part of the surface 84a, the control unit 16a is configured to prevent the planned processing step 158a. The target value of the flatness of this part of the surface 84a and / or the relevant boundary region are stored, for example, on the storage element of the control unit 16a, in particular in the working environment model.

[0064] The control unit 16a is configured to allow or prevent the planned processing step 158a for the object 68a by the processing unit 12a according to the obstacle detection in the processing area 86a of the surface 84a of the object 68a. Information about the obstacle object 96a in the processing area 86a can be detected by means of obstacle detection. The detection unit 30a, in particular the lidar unit of the detection unit 30a, is configured to detect the obstacle object 96a during obstacle detection. Alternatively, it can be considered that the autonomous working device 10a has another detection unit, which is independent of the detection unit 30a, for obstacle detection.

[0065] 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 device 10a, in particular the machining unit 12a and / or the advancing unit 14a, moves during machining of the workpiece 68a, in particular during execution of the planned machining step 158a. This part of the surface 84a is part of the machining area 86a. When an obstacle object 96a is determined to be present 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 determined during obstacle detection that the machining area 86a is free of obstacle objects 96a, the control unit 16a is set to allow the planned machining step 158a.

[0066] If the flatness determined for this part of the surface 84a lies outside the boundary region of the target 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 target value of the flatness of this part of the surface 84a and / or the associated boundary region 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 determine a blocked movement area for the machining unit 12a based on obstacle detection. When an obstacle object 96a is determined to be present in an area of the working environment 26a, the control unit 16a is set to classify this area as a blocked movement area. The control unit 16a is set to control the machining unit 12a and / or the advancing unit 14a such that the autonomous working device 10a, in particular the machining unit 12a and / or the advancing unit 14a, always remains outside the area of the working environment 26a that has been classified as a blocked movement area. Information about the blocked movement area can be stored, for example, in a storage element of the control unit 16a, in particular in the working environment model.

[0068] The control unit 16a is set to compare at least one piece of information from obstacle detection with the working environment model. By comparing the information from obstacle detection with the working environment model, it can be determined whether the obstacles determined during obstacle detection are known in the working environment model.

[0069] It can be considered that the control unit 16a is set to allow or block the planned machining step 158a based on comparing the information from the obstacle detection with the working environment model. For example, it can be considered that if the comparison of the information from the obstacle detection with the working environment model shows that the obstacle object 96a determined during the obstacle detection is already known in the working environment model, the control unit 16a allows the planned machining step 158a. For example, it can also be considered that if the obstacle object 96a determined during the obstacle detection is unknown in the working environment model, the control unit 16a is set to block the planned machining step 158a.

[0070] Furthermore, it can be considered that the control unit 16a is set to correct the planned machining step 158a based on the comparison of the working environment model with the information from the obstacle detection. For example, it can be considered that by comparing the working environment model with the information from the obstacle detection, the control unit 16a can determine 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. For example, the control unit 16a is set to correct the machining coordinates, machining angle, machining duration, machining intensity, etc. of the planned machining 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 between the obstacle object 96a known in the working environment model determined by means of the control unit 16a and the obstacle object 96a detected in the working environment 26a by means of the detection unit 30a.

[0071] The robot - tool - connection unit 48a is configured to be modularly expandable to arrange different interface function modules. The interface modules can be detachably fastened 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 can be detached from the robot - tool - connection unit 48a without tools. At least a part of the interface modules is connected, in terms of data technology and / or control technology, to the control unit 16a, in particular wirelessly and / or wiredly, in the state of being arranged on the robot - tool - connection unit 48a. The control unit 16a is set up to control at least a part of the interface modules. The tool unit 44a is connected, in terms of data technology and / or control technology, to the control unit 16a, in particular wirelessly and / or wiredly, in the state of 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 respective interface modules. It is conceivable that the robot - tool - connection unit 48a, in particular the control unit 16a, is set up for automatically recognizing the connection to one of the interface modules. Furthermore, it is conceivable that the robot - tool - connection unit 48a, in particular the control unit 16a, is set up for automatically recognizing the interface modules connected to the robot - tool - connection unit 48a.

[0072] 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. At least one module interface is preferably at least set up for a mechanical connection to at least one interface module. It is conceivable that at least one module interface is set up for an electrical connection to at least one interface module, for example for supplying electrical energy to at least one interface module that can be arranged on the module interface. Preferably, at least one module interface is set up for a connection in terms of data technology and / or control technology to at least one interface module arranged on the module interface.

[0073] The interface device 46a has a sensor module 50a for detecting environmental characteristic values and / or the tool unit 44a. The sensor module 50a is one of the above - mentioned interface modules. Alternatively, it is also conceivable that the interface device 46a is constructed without the sensor module 50a. The environmental characteristic values can, for example, have information about the distance of the tool unit 44a from the object to be processed 68a or another object in the working environment 26a, temperature, in particular the temperature of the object 68a, the other object and / or the ambient air, air humidity, for example the force acting on the robot - tool - connection unit 48a when machining the object 68a with the machining unit 12a, information about the gas composition in the ambient air, in particular information about hazardous gases in the ambient air, ambient air pressure, information about the persons present in the working area 26a, combinations of these information, etc.

[0074] The sensor module 50a can, for example, detect at least the mechanical and / or electrical connection of the robot-tool connection unit 48a to the tool unit 44a. The sensor module 50a is connected at least in terms of data technology to the control unit 16a, in particular wirelessly and / or wired, in the state of being arranged on the robot-tool connection unit 48a. The sensor module 50a preferably has an optical sensing unit, such as a lidar unit, a laser interferometer, etc. and / or a capacitive sensing unit, preferably for detecting the tool unit 44a, in particular for detecting information regarding the connection of the robot-tool connection unit 48a to the tool unit 44a. The optical sensing unit can be set for detecting information regarding the distance of the tool unit 44a to the object to be machined 68a or another object in the working environment 26a, etc. The sensor elements of the sensor module 50a, in particular the optical sensor unit, are arranged on the robot-tool connection unit 48a vibrationally decoupled from the tool unit 44a and / or the robot-tool connection unit 48a. Alternatively or additionally, it can be considered that the sensor module 50a has a temperature sensor, a humidity sensor, a barometer, a force sensor, a gas sensor, etc. or a combination thereof.

[0075] The interface device 46a has an energy supply module 52a for transmitting energy to the tool unit 44a arranged on the robot-tool connection unit 48a, in particular the hand-held power tool 122a. The energy supply module 52a is one of the above-mentioned interface modules. Alternatively, it can also be considered that the interface device 46a is constructed without the energy supply module 52a. Electric energy can be supplied to the tool unit 44a, in particular the hand-held power tool 122a, via the energy supply module 52a. The energy supply module 52a has at least one electrical interface (not shown here) for electrically connecting to the tool unit 44a, preferably the hand-held power tool 122a, in particular the power supply line or the battery pack interface of the tool unit 44a. It can be considered that the energy supply module 52a obtains energy, in particular electrical energy, from the energy storage of the autonomous working appliance 10a (not shown here), and / or the energy supply module 52a has its own energy storage, such as a battery, a common battery, a solar module, etc. It can be considered that the energy supply module 52a is connected to the control unit 16a in terms of control technology and / or data technology, in particular wirelessly and / or wired, preferably at least in the state of the energy supply module 52a being arranged on the robot-tool connection unit 48a. Alternatively, it can be considered that the energy supply module 52a is constructed without a data technology and / or control technology connection to the control unit 16a.

[0076] The interface device 46a has a fluid transfer module 54a for transferring fluid from a tool unit 44a arranged on a robot-tool connection unit 48a, in particular a hand-held machine tool 122a. The fluid transfer module 54a is one of the above-mentioned interface modules. Alternatively, it can also be considered that the interface device 46a is constructed without the fluid transfer module 54a. The fluid transfer module 54a is one of the above-mentioned 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 of the tool unit 44a, in particular a hand-held machine tool 122a, such as a hose, a pipe, an air attachment connection, etc. The fluid transfer module 54a is arranged for sucking up chips generated especially by machining an object 68a by a machining unit 12a, in particular a 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), in particular a suction hose 140a of the suction unit. It can be considered that the suction unit is part of the autonomous working appliance 10a, or the suction unit is constructed independently of the autonomous working appliance 10a. Alternatively, it can also be considered that the fluid transfer module 54a has a suction unit. The suction unit has, for example, a blower, etc., in order to generate, in particular, an air flow for sucking up chips. It can be considered that the suction unit is constructed as a vacuum cleaner, etc. The fluid transfer module 54a is arranged for connecting the tool unit 44a, in particular the suction element 136a, to the suction unit. It can be considered that the fluid transfer module 54a has at least one valve for controlling the functions of the fluid transfer module 54a, in particular in order to regulate, preferably allow and / or prevent fluid transfer through the fluid transfer module 54a. It can be considered that the valve control technology and / or data technology of the fluid transfer module 54a, in particular the fluid transfer module 54a, is connected to the control unit 16a, preferably at least in the state where the fluid transfer module 54a is arranged on the robot-tool connection unit 48a.

[0077] Alternatively or additionally, it can be considered that the fluid transfer module 54a is arranged for transferring fluid, in particular 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 to be machined 68a especially during machining by the machining unit 12a, in particular the tool unit 44a. For example, the tool unit 44a has a blowpipe (not shown here), etc., which is arranged for blowing chips out of a drill hole generated by the machining unit 12a, preferably by means of the air transferred through the fluid transfer module 54a.

[0078] Furthermore, alternatively or additionally, it can be considered that the fluid transfer module 54a is arranged for fluid-technologically driving a tool unit 44a arranged on the robot-tool connection unit 48a, in particular a tool unit 44a configured to be fluid-technologically drivable. For example, it can be considered 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 be configured independently of the autonomous working appliance 10a. For example, it can also be considered 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 be configured independently of the autonomous working appliance 10a.

[0079] The interface device 46a has a detection module 56a for identifying the tool unit 44a arranged on the robot-tool connection unit 48a, in particular the hand-held power tool 122a. The detection module 56a is one of the above-mentioned interface modules. Alternatively, it can also be considered that the interface device 46a is configured without the detection module 56a. The detection module 56a is connected data-technologically, in particular wirelessly and / or wired, to the control unit 16a 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 of the tool unit 44a being arranged on the robot-tool connection unit 48a. The detection module 56a is arranged, for example, for at least identifying the tool type, serial number, etc. of the tool unit 44a, in particular the hand-held power tool 122a, when identifying the tool unit 44a.

[0080] Alternatively or additionally, it can be considered that the interface device 46a has a material supply module 58a for supplying materials to the tool unit 44a arranged on the robot-tool connection unit 48a. The material supply module 58a is one of the above-mentioned interface modules. For example, the material supply module 58a is arranged to supply expansion bolts, pigments, adhesives, concrete or similar materials. It can be considered that the material supply module 58a is connected to a material storage, which is, for example, part of the autonomous working appliance 10a or is constructed independently of the autonomous working appliance 10a or the material supply module itself has a material storage. The material storage particularly has the material to be conveyed to the tool unit 44a by the material supply module 58a. For example, the material can be supplied to the tool unit 44a through the material supply module 58a by means of a conveying unit, in particular a pump, a compressor, etc. It can be considered that the conveying unit is part of the material supply module 58a or part of the autonomous working appliance 10a or is constructed separately from the autonomous working appliance 10a. The material supply module 58a has at least one valve for controlling the functions of the material supply module 58a, in particular in order to regulate, preferably allow or prevent the material transfer through the material supply module 58a. It can be considered that the material supply module 58a, in particular the valve control technology and / or data technology of the material supply module 58a, is connected to the control unit 16a, preferably at least in the state where the material supply module 58a is arranged on the robot-tool connection unit 48a.

[0081] The connection between the tool unit 44a and the robot-tool connection unit 48a can be established and / or loosened manually and / or at least partially automatically. It can be considered that the autonomous working appliance 10a has a tool magazine (not shown here). Alternatively, it can be considered that the tool magazine is constructed independently of 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 constructed 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 or a similar connection. 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 Poka - Yoke principle. It can be considered that the robot-tool connection unit 48a has an actuating motor or a similar device for automatically loosening the connection between the tool unit 44a and the robot-tool connection unit 48a. Alternatively or additionally, it can also be considered that the mechanical connection between the tool unit 44a and the robot-tool connection unit 48a can be automatically loosened by the mechanical contact of the tool unit 44a and / or the robot-tool connection unit 48a with an object.

[0082] 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 arranged for fluid - technical cleaning. 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 to clean the tool unit 44a and / or the robot - tool - connection unit 48a. Alternatively, it can also be considered that the interface device 46a is constructed without the cleaning unit 60a. It can be considered that the cleaning unit 60a is constructed as one of the interface modules.

[0083] Figure 4 A schematic flow of a method for at least partly automatically machining an object 68a is shown, which method is in particular for at least partly automatically generating a drill hole in the object 68a by means of an autonomous working implement 10a, in particular by means of a machining unit 12a.

[0084] In a method step, in particular in the classification step 100a, the inspection object 18a is classified as a positioning reference object 20a based on a comparison of at least one target characteristic value of the inspection object 18a with at least one actual characteristic value of the inspection object 18a in the working environment of the machining unit 12a.

[0085] In a method step, in particular in the inspection step 98a, the need for additional positioning reference elements 22a is checked. Preferably, in particular in the inspection step 98a, sub - regions 90a, 92a of the working environment 26a are identified by means of the control unit 16a, in which the machining unit 12a can be positioned based on at least one inspection object 18a. In particular, it is preferably checked in the inspection step 98a whether the machining unit 12a can be positioned based on at least one inspection object 18a classified as a positioning reference object 20a on support sites 28a, 94a that are relevant to the machining of the object 68a, in particular to the execution of the machining plan.

[0086] In a method step, particularly in the planned installation step 102a, the target installation position for 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, particularly in the planned installation step 102, the target installation position determined for at least one additional positioning reference element 22a is output by means of an output unit, projected onto the target installation position in the working environment 26a, and / or stored in the working environment model.

[0087] In a method step, particularly in the installation step 134a, at least one additional positioning reference element 22a is fastened to the target installation position of the additional positioning reference element 22a, for example manually by the user or automatically by the autonomous working device 10a, particularly the processing unit 12a.

[0088] In a method step, particularly in the working step 104a, the object 68a is processed by means of the processing unit 12a. Particularly in the working step 104a, at least one drill hole is produced in the object 68a by means of the processing unit 12a. Particularly in the working step 104a, when processing the object 68a and / or for positioning in the working environment, the control unit 16a controls the processing unit 12a and / or the advancing unit 14a based on at least one inspection object 18a classified as a positioning reference object 20a and / or based on at least one additional positioning reference element 22a.

[0089] Figure 5 Shows a schematic flow of a method for at least partially automatically processing an object 68a, particularly Figure 4 of the working step 104a, for at least partially automatically producing drill holes in the object 68a by means of the autonomous working device 10a. In a method step, particularly in the permitting step 138a, based on at least one surface characteristic value of at least a part of the surface 84a of the object 68a, the planned processing step 158a for the object 68a by means of the processing unit 12a is blocked or permitted.

[0090] In a method step, particularly in the correction step 106a, the planned processing step is corrected based on a comparison of information on obstacles detected in the processing area 86a from the processing unit 12a with the working environment model.

[0091] In a method step, particularly in the processing step 158a, the planned and particularly corrected, if necessary, in the correction step 106a, processing step 158a is executed.

[0092] In Figures 6 to 13Further embodiments of the present invention are shown. The following description is basically limited to the differences between the embodiments, and for the same components, features and functions, reference may be made to the drawings and / or descriptions of other embodiments, especially Figures 1 to 7 of the embodiments. To distinguish the embodiments, Figures 1 to 5 the letter a in the reference numerals of the embodiments of Figures 6 to 13 is replaced by the letters b to e in the reference numerals of the embodiments of

[0093] Figure 6 A system 36b is shown having an autonomous working device and at least one positioning reference element 22b. Alternatively, it may also be considered that the working device 10b is configured as a manual working device 10b. The autonomous working device 10b is configured as a construction robot, especially a drilling robot. However, alternatively, it may also be considered that the autonomous working device 10b is configured as a construction robot different from the drilling robot, such as a painting robot, a window cleaning robot, a floor sweeping robot, an outdoor area robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (especially for collecting leaves, branches, etc.) or a combination of these robots or other autonomous working devices 10b that seem meaningful to those skilled in the art. The autonomous working device 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 device 10b has an advancing unit 14b for advancing the processing unit 12b. The autonomous working device 10b has a control unit 16b for at least controlling the processing unit 12b.

[0094] The autonomous working device 10b has a detection unit 30b arranged on the advancing unit 14b for detecting at least one positioning reference element 22b. The detection unit 30b has, for example, a theodolite, a tachymeter or a similar device for detecting the positioning reference element 22b. The detection unit 30b, especially the theodolite or the tachymeter, is set up for automatically detecting the positioning reference element 22b, especially with the aid of the control unit 16b. The positioning reference element 22b is configured, for example, as a reflective marker, especially a prism, a reflective foil, etc.

[0095] The control unit 16b is set up for controlling the processing unit 12b and / or the advancing unit 14b according to at least one positioning reference element 22b arranged in the working environment 26b, so that the processing unit 12b and / or the advancing unit 14b move in the working environment 26b and / or for processing an object 68b by the processing unit 12b. However, alternatively or additionally, it may also be considered that the detection unit 30b has a lidar unit, a stereo camera, a time-of-flight camera, a stripe-projection-based imaging system and / or other detection devices that seem meaningful to those skilled in the art for positioning the autonomous working device 10b, especially the advancing unit 14b and / or the processing unit 12b.

[0096] The control unit 16b is configured to analyze and evaluate the information detected by the detection unit 30b based on a simultaneous localization and mapping (SLAM) method, preferably for moving the autonomous working device 10b, preferably the processing unit 12b and / or the advancing unit 14b, to the working position of the autonomous working device 10b, in particular the advancing unit 14b. The working position of the autonomous working device 10b only has information about the position of the autonomous working device 10b, in particular the advancing unit 14b. The working position does not have information about the orientation, in particular the rotational orientation, of the processing unit 12b, preferably a part of the processing unit 12b. The working position is stored in the processing plan, in particular in the working environment model. The control unit 16b is configured to move the autonomous working device 10b, in particular the processing unit 12b and / or the advancing unit 14b, according to the processing plan and according to the information about the working position detected by the detection unit 30b, in order to process at least one object 68b.

[0097] The control unit 16b is configured to determine the position and orientation of at least one part of the processing unit 12b based at least on the positioning reference element 22b detected by the detection unit 30b. Determining the position and orientation of at least one part of the processing unit 12b includes determining the position and all rotational orientations of the part of the processing unit 12b. The part of the processing unit 12b corresponds here, for example, to the tool unit 44b of the processing unit 12b, in particular the tool, in particular the tool arranged on the tool unit 44b of the hand-held power tool. The control unit 16b is configured to determine the position and orientation of at least one part of the processing unit 12b after the autonomous working device 10b, in particular the processing unit 12b and / or the advancing unit 14b, has moved to the working position, preferably with the position of the advancing unit 14b fixed.

[0098] The autonomous working implement 10b has a work platform 32b with adjustable height. The work platform 32b is arranged on the advancing unit 14b. The detection unit 30b is arranged on the work platform 32b. The operating unit 72b of the processing unit 12b is arranged on the work platform 32b. The work platform 32b is height-adjustable relative to the ground 150b on which the autonomous working implement 10b, in particular the advancing unit 14b, is arranged. The autonomous working implement 10b has a lifting unit 144b. The height of the work platform 32b can be adjusted by means of the lifting unit 144b. The lifting unit 144b has a telescopic rod 146b. The telescopic rod 146b is configured as a hydraulic telescopic rod. Alternatively, it can also be considered that the lifting unit 144b has more than one telescopic rod 146b. Furthermore, alternatively or additionally, it can also be considered that the lifting unit 144b has a scissor lift mechanism, a linear drive, such as a rack, a transmission chain, a ball screw drive, a linear motor or the like. The work platform 32b is connected to the advancing unit 14b by means of the lifting unit 144b, in particular the telescopic rod 146b. The control technology of the lifting unit 144b is connected to the control unit 16b, in particular wirelessly and / or wired. The lifting unit 144b is part of the processing unit 12b. Alternatively, it can also be considered that the work platform 32b is arranged on the operating unit 72b of the processing unit 12b, such that the work platform 32b can be adjusted in height by means of the operating unit 72b. The operating unit 72b is configured as a robotic arm. The operating unit 72b has a multi-axis movement mechanism. The operating unit 72b has six degrees of freedom. However, alternatively, it can also be considered that the operating unit 72b has less than six degrees of freedom.

[0099] The autonomous working implement 10b has an inclinometer 34b. The inclinometer 34b is arranged for determining the inclination relative to the vertical plane 42b of the autonomous working implement 10b, in particular the advancing unit 14b. The control unit 16b is arranged for determining the position and orientation of at least one part of the processing unit 12b in the work environment model based on the measured values obtained by means of the detection unit 30b and the inclinometer 34b. The inclinometer 34b can be configured as a mechanical inclinometer, an electronic inclinometer or a digital inclinometer.

[0100] The control unit 16b is arranged for vertically orienting the operating unit 72b of the processing unit 12b by means of at least one measured value of the inclinometer 34b. The control unit 16b is arranged for converting the coordinate system of the operating unit 72b into a vertical orientation based on the inclination of the operating unit 72b relative to the vertical plane 42b determined by means of the inclinometer 34b. Preferably, when measuring values are detected by means of the inclinometer 34b and / or the detection unit 30b to determine the position and orientation of at least one part of the processing unit 12b, the autonomous working implement 10b, in particular the advancing unit 14b, is in a fixed position.

[0101] The control unit 16b is configured to process at least one measurement value of the inclinometer 34b to assist in detecting at least one positioning reference element 22b. At least one measurement value of the inclinometer 34b can be used to assist in automatically detecting at least one positioning reference element 22b by means of the detection unit 30b with the aid of the control unit 16b.

[0102] 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 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 at least one working position and / or according to information about the working environment 26b obtained by means of the detection unit 30b, which information the control unit 16b requires in order to be able to determine the position and orientation of parts of the machining unit 12b in the entire working environment 26b or in the part of the working environment 26b relevant to the machining of at least one object 68b. The extent of the part of the working environment 26b relevant to the machining of at least one object 68b depends in particular on the machining plan, preferably at least one working position.

[0103] The control unit 16b is configured to determine the target mounting position for 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 implement 10b 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 display screen, a loudspeaker, a light-emitting element, such as an LED or a similar device. It can be considered that the output unit is configured to output the target mounting position. For example, it can be considered that the target mounting position is displayed on the display screen of the output unit and / or the output unit is configured to project the target mounting position into the working environment 26b. Alternatively or additionally, it can also be considered that the autonomous working implement 10b, in particular the machining unit 12b, is configured to fasten the additional positioning reference elements 108b at the target mounting position at least partly automatically.

[0104] The control unit 16b is configured to determine the actual position of the additional positioning reference element 108b by means of the detection unit 30b, in particular a theodolite or tachymeter. 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 working environment model. The additional positioning reference elements 108b can be used to position the autonomous working implement 10b, in particular the machining unit 12b and / or the advancing unit 14b, in the working environment 26b, and / or to determine the position and orientation of at least one part of the machining unit 12b.

[0105] Figure 7 Schematic flow showing a method for at least partially automatically machining an object 68b by means of an autonomous working device 10b, in particular for at least partially automatically producing a drill hole in the object 68b.

[0106] In a method step, in particular in the positioning step 160b, the autonomous working device 10b, in particular the advancing unit 14b, is moved in the working environment 26b based on information about the working environment 26b detected by means of the detection unit 30b, in particular based on at least one positioning reference element 22b, preferably by means of manipulation by the control unit 16b. In particular in the positioning step 160b, the autonomous working device 10b, preferably the advancing unit 14b, is manipulated by the control unit 16b based on the information detected by means of the detection unit 30b for moving the autonomous working device 10b to the working position of the processing unit 12b. It can be considered that, in particular in the positioning step 106b, the measured value obtained by means of the inclinometer 34b is processed by the control unit 16b to assist in automatically detecting at least one positioning reference element 22b by means of the detection unit 30b.

[0107] In a method step, in particular in the orientation determination step 110b, the position and orientation of at least one part of the processing unit 12b are determined based at least on the positioning reference element 22b detected by means of the detection unit 30b arranged on the advancing unit 14b. In particular when detecting measured values by means of the inclinometer 34b and / or the detection unit 30b to determine the position and orientation of at least one part of the processing unit 12b, the autonomous working device 10b, in particular the advancing unit 14b, is in a fixed position, in particular the working position.

[0108] In a method step, in particular in the working step 104b, the object 68b is machined by means of the processing unit 12b. In particular in the working step 104b, at least one drill hole is produced in the object 68b by means of the processing unit 12b. In particular in the working step 104b, when machining the object 68b, the control unit 16b manipulates the processing unit 12b and / or the advancing unit 14b based on the position and orientation of at least one part of the processing unit 12b in the working environment model determined in particular in the orientation determination step 110b.

[0109] Figure 8The autonomous working device 10c is shown. Alternatively, it can also be considered that the working device 10c is configured as a manual working device 10c. The autonomous working device 10c is configured as a construction robot, in particular a drilling robot. However, alternatively, it can also be considered that the autonomous working device 10c is configured as a construction robot different from the drilling robot, such as a painting robot, a window cleaning robot, a floor cleaning robot, an outdoor area robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (especially for collecting leaves, branches, etc.) or a combination thereof or other autonomous working devices 10c that seem meaningful to a person skilled in the art. The autonomous working device 10c has a processing unit 12c. The processing unit 12c is configured as a drilling unit.

[0110] The autonomous working device 10c has an advancing unit 14c for advancing the processing unit 12c. The autonomous working device 10c has a control unit 16c for at least controlling the processing unit 12c.

[0111] The autonomous working device 10c has at least one detection unit 30c. The control unit 16c is set to control the autonomous working device 10c, in particular the advancing 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 can also be considered that the detection unit 30c has a stereo camera, a time-of-flight camera, a stripe projection-based imaging system and / or other detection devices that seem meaningful to a person skilled in the art. The control unit 16c is set to analyze and evaluate the information detected by means of the detection unit 30c, in particular the lidar unit, based on a simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is in particular a method for simultaneously determining the position and creating a map in robotics, wherein, in particular in the method, preferably a virtual map of the environment and the spatial orientation of a movable unit, in particular the autonomous working device 10c, in the virtual map are determined simultaneously. The control unit 16c is set to control the advancing 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.

[0112] The autonomous working device 10c has an inclinometer 34c. The inclinometer 34c is set to determine the inclination of the autonomous working device 10c, in particular the advancing unit 14c, relative to the vertical plane 42c. The inclinometer 34c can be configured as a mechanical inclinometer, an electronic inclinometer or a digital inclinometer.

[0113] The autonomous working device 10c has a distance measuring device 38c. The distance measuring device 38c is configured as an optoelectronic distance measuring device, in particular a laser interferometer. Alternatively, it can also be considered that the distance measuring device 38c is configured as an optical distance measuring device. The distance measuring device 38c is provided for determining the distance to an object in the working environment. The distance measuring device 38c is arranged on the processing unit 12c. The control unit 16c is provided for determining the position and orientation of at least one part of the processing unit 12c in the working environment model based on the measured values obtained by means of the inclination measuring device 34c and the distance measuring device 38c. Determining the position and orientation of at least one part of the processing unit 12c includes determining the position and all rotational orientations of this part of the processing unit 12c. The part of the processing unit 12c here corresponds, for example, 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.

[0114] The control unit 16c is provided for orienting the distance measuring device 38c using at least one measured value of the inclination measuring device 34c. The control unit 16c is provided for vertically orienting the operating unit 72c of the processing unit 12c using at least one measured value of the inclination measuring device 34c. The control unit 16c is provided for converting the coordinate system of the operating unit 72c into a vertical orientation based on the inclination of the operating unit 72c relative to the vertical plane 42c determined by means of the inclination measuring device 34c. The control unit 16c is provided for controlling the processing unit 12c and / or the advancing unit 14c after converting the coordinate system of the operating unit 72c into a vertical orientation so that the processing unit 12c moves to the processing position of the processing unit 12c.

[0115] The processing position only has information about the position of the autonomous working device, in particular the processing unit 12c. The processing position has at least no information about the orientation of the processing unit 12c, in particular the rotational orientation of the processing unit 12c, preferably a part of the processing unit 12c. The processing position is stored in the processing plan, in particular in the working environment model. In particular, when the measured values are detected by means of the inclination measuring device 34c and / or the distance measuring device 38c to determine the position and orientation of at least one part of the processing unit 12c, the autonomous working device 10c, in particular the advancing unit 14c, is in a fixed position.

[0116] The distance measuring device 38c is set up to detect measurement values in at least two different angular positions in a state where the distance measuring device 38c is oriented by means of the inclinometer 34c, in order to determine the position and orientation of parts of the processing unit 12c in the working environment model. The distance measuring device 38c is in particular arranged in a state where it is oriented by means of the inclinometer 34c such that, in a vertically oriented state of the operating unit 72c, the detection direction of the distance measuring device 38c extends in a plane that extends at least substantially perpendicular to the axis 40c when the operating unit 72c rotates about the axis 40c. The axis 40c extends in the vertical direction. The control unit 16c is set up to control the operating unit 72c to rotate about the axis 40c such that the distance measuring device 38c detects measurement values in at least two different angular positions. The control unit 16c is set up to determine the actual position of at least one object classified as a positioning reference object 20c in the working environment model and in particular to compare it with the target position from the working environment model.

[0117] The object classified as the positioning reference object 20c can for example be a wall, an object to be processed, a ceiling, a floor, a facade, another preferably fixed building part or an object fixed, in particular stationary, in the working environment 26c. It can be considered that the object can be classified as the positioning reference object 20c automatically by the autonomous working appliance 10c and / or manually by the user. The classification of the object as the positioning reference object 20c is carried out by means of the control unit 16c, in particular by comparing the target characteristic values of the object and the actual characteristic values of the object. The control unit 16c is set up to determine the deviation of the actual characteristic values from the target characteristic values when comparing the target characteristic values of the object and the actual characteristic values of the object. The control unit 16c is set such that when the deviation value of the actual characteristic values from the target characteristic values lies within the tolerance range of the target characteristic values, the object is classified as the positioning reference object 20c. If the deviation value of the actual characteristic values from the target characteristic values lies outside the tolerance range of the target characteristic values, the object is excluded from being classified as the positioning reference object 20c in particular by the control unit 16c. The tolerance range is defined in the running program, in particular stored in the working environment model. It can be considered that the tolerance range is adjustable, 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 can also be considered that different objects in the working environment 26c are assigned different tolerance ranges in the working environment model.

[0118] The control unit 16c is configured to determine the normal of the positioning reference object 20c from the comparison between the actual position and the target position. The control unit 16c is configured to determine the position and orientation of a part of the processing unit 12c in the working environment model by using the actual position of the object classified as the positioning reference object 20c in the working environment 26c and its normal. Preferably, the control unit 16c is configured to transform the overall coordinates from the processing plan into the coordinate system of the operating unit 72c, particularly into the coordinate system of at least one part of the processing unit 12c, from the determined orientation and position of at least one part of the processing unit 12c. The control unit 16c is preferably configured to control the processing unit 12c and / or the advancing unit 14c to process the object 68c according to the determined orientation and position of at least one part of the processing unit 12c.

[0119] The autonomous working device 10c has a work platform 32c with adjustable height. The work platform 32c is arranged on the advancing unit 14c. A distance measuring device 38c is arranged on the work platform 32c. The distance measuring device 38c is arranged on the operating unit 72c, particularly on the free end 118c of the operating unit 72c. An inclination measuring device 34c is arranged on the work platform 32c. The inclination measuring device 34c is arranged on the operating unit 72c, particularly on the free end 118c of the operating unit 72c. Alternatively, it can also be considered that the inclination measuring device 34c is arranged independently of the operating unit 72c, particularly the processing unit 12c, on the work platform 32c, or the inclination measuring device 34c is arranged on the housing 152c of the autonomous working device 10c, particularly the advancing unit 14c, particularly in the housing.

[0120] Figure 9 A schematic flow showing a method for at least partially automatically processing an object, particularly for at least partially automatically generating a drill hole on the object, by means of the autonomous working device 10c is shown.

[0121] In a method step, particularly in the positioning step 160c, the autonomous working device 10c, particularly the advancing unit 14c, is moved in the working environment 26c according to the information about the working environment 26c detected by the detection unit 30c, preferably a lidar unit, preferably by means of the control by the control unit 16c. Particularly in the positioning step 160c, the control unit 16c controls the autonomous working device 10c, preferably the advancing unit 14c, according to the information detected by the detection unit 30c, preferably a lidar unit, for moving the autonomous working device 10c to the area of the processing position of the processing unit 12c.

[0122] In a method step, particularly in the detection step 112c, the inclinometer 34c is oriented before the distance measuring instrument 38c detects the measured value. The distance measuring instrument 38c rotates about the axis 40c particularly in the detection step 112c to detect the measured value at least in two angular positions respectively. The distance measuring instrument 38c detects at least one measured value in at least two different angular positions particularly in the detection step 112c in a state oriented by means of the inclinometer 34c.

[0123] Particularly when detecting the measured value by means of the inclinometer 34c and / or the distance measuring instrument 38c to determine the position and orientation of at least one part of the processing unit 12c, the autonomous working device 10c, particularly the advancing unit 14c, is in a fixed position.

[0124] In a method step, particularly in the orientation determination step 110c, the position and orientation of at least one part of the processing unit 12c in the working environment model are determined based on the measured values obtained by means of the inclinometer 34c and the distance measuring instrument 38c.

[0125] In a method step, particularly in the working step 104c, the object 68c is processed by means of the processing unit 12c. Particularly in the working step 104c, at least one drill hole is produced on the object 68c by means of the processing unit 12c. When processing the object 68c, particularly in the working step 104c, the processing unit 12c and / or the advancing unit 14c are controlled by the control unit 16c according to the position and orientation of at least one part of the processing unit 12c in the working environment model determined particularly in the orientation determination step 110c.

[0126] Figure 10 A system 36d with an autonomous working device 10d is shown. Alternatively, it can also be considered that the working device 10d is configured as a manual working device. The autonomous working device 10d is configured as a construction robot, particularly a drilling robot. However, alternatively, it can also be considered that the autonomous working device 10d is configured as a construction robot different from the drilling robot, such as a painting robot, a window cleaning robot, a floor cleaning robot, an outdoor area robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (particularly for collecting leaves, branches, etc.) or a combination of these robots or other autonomous working devices 10d that seem meaningful to those skilled in the art.

[0127] The autonomous working device 10d has a processing unit 12d. The processing unit 12d is configured as a drilling unit. The autonomous working device 10d has an advancing unit 14d for advancing the processing unit 12d. The autonomous working device 10d has a control unit 16d for at least controlling the processing unit 12d. The autonomous working device 10d is set up for at least partially automatic processing of an object 68d, in particular by means of the processing unit 12d. The autonomous working device 10d is hereby set up, for example, for at least partially automatically generating drill holes in the object 68d.

[0128] The processing unit 12d is set up, for example, for processing the object 68d at least according to a processing plan. The processing plan is, for example, stored on a storage element of the control unit 16d. A working environment model of the autonomous working device 10d, in particular of the processing unit 12d, is stored on the control unit 16d, in particular on a storage element of the control unit 16d. The working environment model is a building information model (BIM) or a similar model. The processing plan is recorded in the working environment model. The control unit 16d is set up for navigating the advancing unit 14d and / or the processing unit 12d in the working environment 26d according to the processing plan and / or the working environment model.

[0129] 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).

[0130] It can be considered that the control unit 16d is set up for analyzing and evaluating information detected by means of the camera regarding the positioning and movement of the autonomous working device 10d, in particular of the processing unit 12d and / or the advancing unit 14d, in the working environment 26d, in particular relative to the working position. Additionally or alternatively, it can be considered that the camera is set up for detecting surface characteristic values or information for determining surface characteristic values in a set processing area 86d of the object 68d. The working position of the autonomous working device 10d is the position of the autonomous working device 10d, in particular of the advancing unit 14d, in the working environment 26d at which the object 68d can be processed by the processing unit 12d, in particular based on an optical positioning element 64d.

[0131] The system 36d has a projection unit 62d, which is at least used to generate an optical positioning element 64d. The optical positioning element 64d is configured as a linear element. The optical positioning element 64d is formed by electromagnetic radiation, preferably by visible light. The optical positioning element 64d is a laser line. The projection unit 62d has a linear laser for generating the optical positioning element 64d. Alternatively or additionally, it can be considered that the projection unit 62d has a projector or a similar device for generating the optical positioning element 64d. The optical positioning element 64d preferably has a straight trend. However, alternatively, it can also be considered that the optical positioning element 64d is configured as a circle, a point or a similar shape.

[0132] The projection of the projection unit 62d, especially the optical positioning element 64d, is oriented on the marking site 66d. The marking site 66d is defined by a marking element arranged in the working environment 26d, especially on the object 68d to be processed. Alternatively or additionally, it can be considered that the marking site 66d is stored in the working environment model. The marking element is, for example, a drill hole here. However, alternatively, it can also be considered that the marking element is a reflective pin, a light-emitting element, such as an LED, a color marking, a shape marking, a combination thereof, etc. It can be considered that the marking element can be automatically installed or generated on the marking site 66d by the autonomous working device 10d, especially the processing unit 12d. Alternatively, it can also be considered that the marking element can be installed or generated on the marking site 66d by the user or by the user's manipulation of the autonomous working device 10d, or the marking element can be generated or arranged on the marking site 66d with a device separate from the autonomous working device 10d, such as a drilling machine.

[0133] The projection unit 62d can be oriented on the marking site 66d by the user, for example. Alternatively, it can also be considered that the projection unit 62d is set for automatic orientation, especially without user intervention, for example by means of a detection unit or a similar unit for detecting the marking site 66d. The projection unit 62d is constructed independently of the autonomous working device 10d. The projection unit 62d is set to project the optical marking element 64d, especially the linear element, onto the processing area 86d and directly project, especially simultaneously project, onto the detection unit 30d, especially the image sensor. The projection unit 62d is set to project the optical positioning element 64d directly onto the detection unit 30d, preferably the image sensor. In particular, the projection unit 62d is set and / or arranged such that the optical positioning element 64d acts on a reflecting surface or the like between the projection unit 62d and the detection unit 30d, especially the image sensor.

[0134] The control unit 16d is configured to control the advancement unit 14d and / or the processing unit 12d, in particular for processing an object 68d, preferably on at least one processing site of the object 68d, based on an optical positioning element 64d directly projected onto the detection unit 30d, in particular an image sensor. The control unit 16d is configured to control the advancement unit 14d and / or the processing unit 12d such that the optical positioning element 64d can be detected by the detection unit 30d, advantageously projected, preferably directly projected, onto the detection unit 30d. It is conceivable that information about the target position of at least one processing site is stored in the processing plan, in particular in the work environment model. The processing site is in particular different from the marking site 66d.

[0135] The control unit 16d is configured to control at least the processing unit 12d and in particular to control the advancement unit 14d as required to machine the object 68d along a machining line, in particular to produce a drill hole along the machining line. At least one processing site is in particular located on the machining line. The machining line is predefined by an optical positioning element 64d in the work environment 26d. It is conceivable that information about the machining line, in particular the position of the machining line, is stored in the processing plan, preferably in the work environment model. The control unit 16d is configured to control the processing unit 12d and in particular to control the advancement unit 14d as required when machining the object 38d along the machining line, in particular the processing site, based on an optical positioning element 64d directly projected onto the detection unit, in particular an image sensor.

[0136] The processing unit 12d has an operating unit 72d. The tool unit 44d of the processing unit 12d is arranged on the operating unit 72d, in particular on the free end 118d of the operating unit 72d. The detection unit 30d is arranged on the operating unit 72d. The tool unit 44d is configured to machine the object 68d. The tool unit 44d is here for example at least configured to produce a drill hole.

[0137] The control unit 16d is configured to orient the operating unit 72d, in particular the tool unit 44d, based on the optical positioning element 64d. The control unit 16d is configured to orient the operating unit 72d, in particular the tool unit 44d, based on the positioning element 64d to machine the object 68d, preferably along the machining line, preferably for machining at least one processing site. The control unit 16d is for example configured to control the processing unit 12d and to control the advancement unit 14d as required such that the optical positioning element 64d directly projected onto the detection unit 30d is centered on the image sensor. By controlling the processing unit 12d and / or the advancement unit 14d in this way by the control unit 16d such that the optical positioning element 64d directly projected onto the detection unit 30d is centered on the image sensor, the operating unit 72d, in particular the tool unit 44d, can be oriented.

[0138] The image sensor has a rectangular sensor surface 162d. In Figure 10 the sensor surface 162d and a positioning element 64d centrally arranged on the image sensor, in particular on the sensor surface 162d, are schematically shown. Alternatively, it can also be considered that the sensor surface 162d has a square, circular or other shape that makes sense to 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 extends 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 extends through the geometric center of the sensor surface 162d.

[0139] 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, extends 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, relates to the width. The control unit 16d is in particular set to use an algorithm for determining the center. The control unit 16d is for example set to apply this algorithm to an image captured by means of the detection unit 30d, in particular the camera 148d. The control unit 16d is for example set to apply an algorithm similar to the method proposed by Lu Yonghua, Zhang Jia, Li Xiaoyan et al. (cf. Lu Yonghua, Zhang Jia, Li Xiaoyan. A robust method for adaptive center extraction of linear structured light stripe (A method for adaptive center extraction of linear structured light stripe). Transactions of Nanjing University of Aeronautics and Astronautics. (Journal of Nanjing University of Aeronautics and Astronautics) 2020, 37(4); 586 - 596) in order to determine the center of the optical positioning element 64d directly projected onto the detection unit 30d, preferably the image sensor.

[0140] The detection unit 30d has a band - pass filter 70d adapted to the positioning element 64d. The band - pass filter 70d is set to only allow the wavelength range of the optical positioning element 64d to pass through.

[0141] Figure 11Shows a schematic process flow of a method for at least partially automatically machining an object 68d, in particular for at least partially automatically producing drill holes on the object 68d with the aid of a system 36d. In a method step, in particular in the marking step 114d, a marking element is arranged or produced on the marking site 66d. The projection of the optical positioning element 64d, in particular the projection unit 62d, is preferably directed onto the marking site 66d, in particular the marking element, in the marking step 114d.

[0142] In a method step, in particular in the working step 104d, the machining unit 12d and / or the advancing unit 14d are controlled on the basis of the optical positioning element 64d, which is preferably designed as a linear element and is directly projected onto the detection unit 30d. When machining the object 68d, in particular when machining the object 68d along a machining line, the machining unit 12d and / or the advancing unit 14d are controlled on the basis of the optical positioning element 64d, which is preferably designed as a linear element and is directly projected onto the detection unit 30d.

[0143] Figure 12 Shows a system 36e with an autonomous working implement 10e. Alternatively, it is also conceivable that the working implement 10e is designed as a manual working implement. The autonomous working implement 10e has a machining unit 12e. The machining unit 12e is designed as a drilling unit. The autonomous working implement 10e is designed as a construction robot, in particular a drilling robot. However, alternatively, it is also conceivable that the autonomous working implement 10e is designed as a construction robot different from a drilling robot, such as a painting robot, a window cleaning robot, a floor cleaning robot, an outdoor area robot, such as a lawn mowing robot, a hedge trimming robot, a snow removal robot, a collection robot (in particular for collecting leaves, branches, etc.) or a combination of these robots or other autonomous working implements 10e that seem meaningful to a person skilled in the art.

[0144] The autonomous working implement 10e has an advancing unit 14e for advancing 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. The autonomous working implement 10e is here, for example, set up for at least partially automatically producing drill holes on the object 68e.

[0145] System 36e has at least two positioning elements 74e. 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 here configured, for example, as reflecting pins. Alternatively, it is also conceivable that the positioning elements 74e are configured as light-emitting elements, such as LEDs, color markers, shape markers, combinations thereof, etc. One of the two positioning elements 74e is arranged on the first marking site 66e. The other of the two positioning elements 74e is arranged on the second marking site 156e.

[0146] 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 a 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, combinations thereof, etc. The marking elements can in particular be automatically generated by the autonomous working device 10e, preferably the processing unit 12e, on the marking sites 66e, 156e. Alternatively, it is also conceivable that the marking elements can be installed or generated on the marking sites 66e, 156e by the user or by the user's manipulation of the autonomous working device 10e, or that the marking elements can be generated or arranged on the marking sites 66e, 156e with an instrument independent of the autonomous working device 10e, such as a drilling machine.

[0147] The control unit 16e is set up to control the advancing unit 14e and / or the processing unit 12e, in particular for processing the object 68e, preferably on at least one processing site of the object 68e, preferably based on the positions of the two positioning elements 74e, preferably according to the positions of the two positioning elements 74e. It is conceivable that information about the target position of 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.

[0148] The two positioning elements 74e define a processing line 76e. The processing line 76e is preferably the shortest connecting line between the two positioning elements 74e. The control unit 16e is set up to control the processing unit 12e along the processing line 76e, in particular according to the two positioning elements 74e, at least after the processing unit 12e and / or the advancing unit 14e have been positioned relative to the autonomous working device 10e, preferably the working positions of the advancing unit 14e and / or the processing unit 12e, for processing the object 68e, in particular for producing drill holes in the object 68e. The working position of the autonomous working device 10e is the position of the autonomous working device 10e, preferably the advancing unit 14e, in the working environment 26e, at which the object 68e to be processed can in particular be processed by the processing unit 12e, in particular based on the positioning elements 74e.

[0149] The autonomous working device 10e has at least one detection unit 30e. The detection unit 30e is arranged to detect at least one of the positioning elements 74e in the positioning elements 74e. The detection unit 30e is configured as an optical detection unit. The detection unit 30e has a camera configured as an infrared camera 80e, in particular a near-infrared camera, in particular for detecting at least one positioning element 74e. The control unit 16e is arranged to control the advancement unit 14e and / or the processing unit 12e such that at least one positioning element 74e can be detected by the detection unit 30e.

[0150] It can be considered that the control unit 16e is arranged to analyze and evaluate the information detected by the camera of the detection unit 30e in order to position the autonomous working device 10e, in particular the processing unit 12e and / or the advancement unit 14e, in the working environment 26e, in particular relative to the working position. Alternatively or additionally, it can be considered that the camera of the detection unit 30e is arranged to detect surface characteristic values in the processing area or information for determining surface characteristic values.

[0151] The autonomous working device 10e has at least one further detection unit 82e. The further detection unit 82e is arranged to at least detect further positioning elements 74e. The further detection unit 82e has an infrared camera 154e, in particular a near-infrared camera. The infrared camera 80e of the detection unit 30e is configured identically to the infrared camera 154e of the further detection unit 82e. The detection unit 30e and the further detection unit 82e are at least substantially oriented away from each other. The control unit 16e is arranged to control the advancement unit 14e and / or the processing unit 12e such that at least one further positioning element 74e can be detected by the further detection unit 82e. The control unit 16e is arranged to control the advancement unit 14e and / or the processing unit 12e such that two positioning elements 74e can be detected by the detection unit 30e and the further detection unit 82e, preferably simultaneously.

[0152] The processing unit 12e has an operating unit 72e. The tool unit 44e of the processing unit 12e is arranged on the operating unit 72e, in particular on the free end 118e of the operating unit 72e. The detection unit 30e and / or the further detection unit 82e are arranged on the operating unit 72e. The processing unit 12e, in particular the operating unit 72e, is preferably arranged at the advancement unit 14e, advantageously arranged on the advancement unit. The tool unit 44e is arranged to process the object 68e. The tool unit 44e is here, for example, arranged to at least produce a drill hole. The tool unit 44e is at least mechanically connected to the advancement unit 14e via the operating unit 72e.

[0153] 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 a similar light source. 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 assist the detection unit 30e, in particular the infrared camera 80e of the detection unit 30e, when detecting at least one positioning element 74e. The lighting unit 78e is arranged to assist another detection unit 82e, in particular the infrared camera 154e of the other detection unit 82e, when detecting another positioning element 74e. The control unit 14e is arranged to control the detection unit 30e and the lighting unit 78e to detect an image of the positioning element 74e by means of the detection unit 30e in the case of active illumination 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 unit 14e, with respect to the working environment 26e remains unchanged, to detect an image of the positioning element 74e by means of the detection unit 30e without active illumination by the lighting unit 78e.

[0154] The control unit 14e is arranged to control the other detection unit 82e and the lighting unit 78e to detect an image of the other positioning element 74e by means of the other detection unit 30e in the case of active illumination 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 unit 14e, with respect to the working environment 26e remains unchanged, to detect an image of the other positioning element 74e by means of the other detection unit 30e without active illumination by the lighting unit 78e. When detecting two positioning elements 74e by means of the detection unit 30e and the other detection unit 82e, the autonomous working device 10e, in particular the processing unit 12e and / or the advancing unit 14e, is in a fixed position with respect to the working environment 26e.

[0155] The control unit 16e is arranged to process the images detected by means of the detection unit 30e in the case of active illumination and without active illumination by the lighting unit 78e into a final image in which the background of the positioning element 74e is subtracted. The control unit 16e is arranged to process the images detected by means of the other detection unit 82e in the case of active illumination and without active illumination by the lighting unit 78e into a final image in which the background of the other positioning element 74e is subtracted.

[0156] The control unit 16e is configured to orient the machining unit 12e, in particular the operating unit 72e, preferably the tool unit 44e, based on two positioning elements 74e, in particular for machining the object 68e along the machining line 76e. The control unit 16e is here, for example, configured to control the machining unit 12e and / or the advancing unit 14e such that the positioning element 74e detected by means of the detection unit 30e and a further detection unit 82e is arranged centrally in the respectively detected, in particular finally determined, image, in particular in the respective image sensors. By controlling the machining unit 12e in this way by the control unit 16e and in particular by controlling the advancing unit 14e as required, the positioning element 74e detected by means of the detection unit 30e and a further detection unit 82e is arranged centrally in the respectively detected, in particular finally determined, image, in particular in the respective image sensors, the operating unit 72e, in particular the tool unit 44e, can be oriented, in particular for machining the object 68e along the machining line 76e.

[0157] The images detected by means of the detection unit 30e and / or a further detection unit 82e, in particular the sensor surfaces 162e of the respective image sensors, here have, for example, a rectangular landscape format. The sensor surfaces 162e of the detection unit 30e and the further detection unit 82e are schematically shown in Figure 12 wherein, in particular, the detected positioning element 74e is shown in a centrally detected arrangement on the sensor surface 162e. However, alternatively, it can also be considered that the detection unit 30e and / or a further detection unit 82e is configured to capture images in a square format or a rectangular portrait format. When the positioning element 74e is arranged centrally in the respective images, in particular on the respective image sensors, the main extension axes of the positioning element 74e extend through the image center of the respective images, in particular through the center of the respective sensor surfaces 162e, in the respective images, in particular on the respective sensor surfaces 162e. When the positioning element 74e is arranged centrally in the respective images, in particular on the respective sensor surfaces 162e, the main extension axes of the positioning element 74e extend perpendicular to the main extension axes of the respective images, preferably when the images, in particular the image sensors, are in a rectangular landscape format, in the respective images, in particular on the respective sensor surfaces 162e.

[0158] Figure 13 A schematic flow of a method for at least partially automatically machining the object 68e, in particular for at least partially automatically producing drill holes on the object 68e by means of the system 36e, is shown.

[0159] In one method step, in particular in the mounting step 116e, one of the two positioning elements 74e is respectively mounted on two marking sites 66e, 156e, preferably automatically by means of the machining unit 12e of the autonomous working device 10e.

[0160] In a method step, in particular in the detection step 112e, two positioning elements 74e that define the processing line 76e for the processing unit 12e are detected, in particular by means of the detection unit 30e and a further detection unit 82e.

[0161] In a method step, in particular in the working step 104e, the processing unit 12e and / or the advancing unit 14e are controlled on the basis of the positioning elements 74e. Preferably, before the object 12e is processed by the processing unit 12e, the processing unit 12e is oriented on the basis of the two positioning elements 74e by means of the control by the control unit 16e. Preferably, the processing unit 12e is oriented such that the positioning elements 74e are arranged centrally in the image detected by means of the detection unit 30e and the further detection unit 82e, in particular on the respective image sensors of the detection unit 30e and the further detection unit 82e.

[0162] When processing the object 68e, preferably when processing the object 68e along the processing line 76e, the processing unit 12e and / or the advancing unit 14e are controlled on the basis of the positioning elements 74e.

Claims

1. An autonomous or manually operated working implement (10c), in particular a robot, having: a processing unit (12c), in particular a drilling unit, an advancing unit (14c) for advancing the processing unit (12c), and at least a control unit (14c) for controlling the processing unit (12c), It is characterized in that with an inclinometer (34c) and a distance measuring device (38c) arranged on the processing unit (12c), wherein the control unit (16c) is set to determine the position and orientation of at least one part of the processing unit (12c) in a working environment model based on the measured values obtained by means of the inclinometer (34c) and the distance measuring device (38c).

2. The autonomous or manually-operated working appliance (10c) according to claim 1, characterized in that, The control unit (14c) is set to orient the distance measuring device (38c) using at least one measured value of the inclinometer (34c).

3. The self-acting or manually-operated working implement (10c) according to claim 2, characterized in that, The distance measuring device (38c) is set to detect measured values in at least two different angular positions in a state where the distance measuring device (38c) is oriented by means of the inclinometer (34c), for determining the position and orientation of the part of the processing unit (12c) in the working environment model.

4. The autonomous or manually-operated working implement (10c) according to any one of the preceding claims, characterized in that Having a height - adjustable working platform (32c), which is arranged on the advancing unit (14c), and the distance measuring device (38c) is arranged on this working platform.

5. A method for at least partially automatically machining an object (68c), in particular a method for at least partially automatically producing drill holes in an object (68c), preferably a building component, the method being carried out by means of an autonomous or manual working tool (10c), in particular an autonomous or manual working tool according to any one of claims 1 to 4, characterized in that Determine the position and orientation of at least one part of the processing unit (12c) of the working implement (10c) in a working environment model based on the measured values obtained by means of the inclinometer (34c) of the working implement (10c) and the distance measuring device (38c) of the working implement (10c).

6. The method according to claim 5, wherein Before detecting the measured values, the distance measuring device (38c) is oriented by means of the inclinometer (34c).

7. The method according to claim 6, wherein The distance measuring device (38c) detects at least one measured value in at least two different angular positions in a state where the distance measuring device (38c) is oriented by means of the inclinometer (34c).

8. The method according to claim 7, characterized in that, The distance measuring device (38c) rotates about an axis (40c) extending in the vertical direction in order to detect one measured value in at least two angular positions respectively.

Images