Method for controlling construction robot and construction robot

Abstract

The invention relates to a method (1000) for controlling a construction robot (10), in which the construction robot (10) is controlled in order to be moved by means of a tool (18) arranged on a manipulator of the construction robot (10) to at least one working position (20) on a building component (12), in which the working position (20) is marked by means of at least one linear light beam (52). The invention is characterized in that the construction robot (10) moves the manipulator and / or the tool (18) as a function of the position of the impact point (AP1, AP2, AP3) of the linear beam (52) on the construction robot (10).

Description

Technical Field

[0001] The present invention relates to a method for controlling a construction robot, wherein the construction robot is controlled to move a tool arranged on a manipulator of the construction robot to at least one working position on a building component, and the working position is marked by at least one linear light beam. Then, the construction robot can perform construction operations at the working position. Background Art

[0002] For this purpose, first, an optical image drawn by the linear light beam on the building component can be recorded and evaluated using image processing to determine the position of the marked working position. Then, the position of the construction robot and the position of the construction robot can be determined. These different data can be combined to determine the path along which the tool can move to the working position.

[0003] However, this method fails in many cases. Usually, there are already mounting elements, etc. on the building component, such as the ceiling of a building. These mounting elements may interrupt the line of sight between the construction robot and the working position set on the building component, which means that the construction robot cannot capture the optical image of the marked working position. Such interfering objects (such as the mentioned mounting elements) may also cause errors in determining the position of the working position. For example, there may be confusion between the part of the linear light beam hitting the interfering object and the part of the linear light beam actually marking the working position on the building component. The different heights of these different parts may cause a significant deviation in the working position of the construction robot.

[0004] However, if the working position is not correctly determined, this may lead to construction operations being carried out at the wrong position. For example, during a drilling operation, a hole may be drilled at an inappropriate position. During a chiseling operation, this may cause accidental damage to the building component or other objects nearby. Summary of the Invention

[0005] Therefore, an object of the present invention is to provide a method by which a construction robot can reliably move a tool to a working position on a building component marked by a linear light beam. In addition, an object of the present invention is to provide a construction robot by means of which reliable construction operations can be carried out at the working position marked by a linear light beam.

[0006] This object is achieved by a method for controlling a construction robot, wherein the construction robot is controlled to move a tool arranged on a manipulator of the construction robot to at least one working position on a building component, wherein the working position is marked by at least one linear light beam, and wherein the construction robot moves the manipulator and / or the tool according to the position of the impact point of the linear light beam on the construction robot.

[0007] The present invention is in particular based on the surprising idea that when a line-shaped light beam hits a construction robot, the line-shaped light beam itself describes a straight path from the construction robot to the working position. Thus, data on the path to the working position can be obtained not only by examining the working position on the building element itself, but also by examining the line-shaped light beam (specifically, away from the building element). If the line-shaped light beam is examined not in the area of the building element but in the area immediately adjacent to the construction robot (specifically when the line-shaped light beam hits the construction robot), interference effects such as the above-mentioned line of sight interruption, apparent deviation due to interfering objects, etc. can be avoided or at least reduced. Thus, by detecting the position of at least one impact point on the construction robot, the path to the working position can be determined with very high reliability.

[0008] Thus, it is conceivable that the construction robot detects that the line-shaped light beam is passing through the tool, i.e., the tool does not reach the working position in its current position. The construction robot can thus be configured to perform a correction movement that at least aligns the tool along the line-shaped light beam again with sufficient precision.

[0009] Thus, the tool can be guided along the line-shaped light beam by means of stepwise movements until the tool finally reaches the working position.

[0010] Generally, at least the direction of the expected working position is known. For example, when it comes to a working position on a building ceiling, it is known that the working position must be above the construction robot located on the building floor. Thus, the direction followed by the line-shaped light beam can be derived therefrom.

[0011] The method can be used for different types of line-shaped light beams. For example, the line-shaped light beam can be a continuous light beam. It is also conceivable that the line-shaped light beam corresponds to one or more moving light points, such as the moving light points generated by a rotating laser. Alternatively or additionally, the light can be pulsed light.

[0012] Preferably, the method can be used with light in the infrared range, visible light range or ultraviolet range. However, alternatively or additionally, it is also conceivable that the method is used with electromagnetic radiation in other frequency ranges (such as microwaves). Preferably, for this purpose, a light sensor adapted to a specific frequency range (such as an infrared sensor, a light sensor suitable for visible light or a UV sensor) can be used.

[0013] Specifically, the position of the impact point can be determined by means of at least one linear light sensor or area light sensor. Such a light sensor can be used to monitor a long or flat area along the construction robot for the impact of a linear light beam, making it easier to locate the linear light beam. The linear light sensor can have a width of, for example, at least 5 cm, specifically at least 10 cm. For example, the area light sensor can have an area of at least 5 cm × 5 cm. Specifically, the linear light sensor can provide a balanced ratio between cost and monitoring area.

[0014] Specifically, it is conceivable to detect at least two positions of two different impact points of the linear light beam on the construction robot. This can be done with a single area light sensor. For this purpose, several light sensors can also be used, such as several linear light sensors and / or area light sensors, which are preferably spaced apart from each other. Overall, this also provides the possibility of determining the orientation of the linear light beam.

[0015] It is conceivable to detect at least one position of the impact point on the manipulator. For this purpose, light sensors, such as linear light sensors, can be arranged on and / or in the manipulator. Then, any necessary correction movements can be directly derived from the position of the determined impact point. Thus, an additional determination of the relative position of the manipulator with respect to the base of the construction robot (such as a mobile platform) can be dispensed with.

[0016] The linear light beam can also be used to mark a plurality of working positions. For example, the construction task can include performing several construction operations at a constant distance along the linear light beam on a building component. For example, the construction task can include drilling holes in a building component at specified distances from each other along the linear light beam.

[0017] This method can be particularly suitable for such a situation because in principle it can already follow the route of the linear light beam.

[0018] In order to be able to check the distances between individual construction operations or working positions, for example, at least one second coordinate can also be measured, such as the distance to a building component and / or to a second building component.

[0019] The construction robot for this method can have a lifting device. The lifting device can be part of the manipulator.

[0020] In the case where the construction robot is configured to perform construction operations on a building ceiling, it may be sufficient for the manipulator, specifically the lifting device, to have only one degree of freedom. The lifting device can be variable in length, for example. The lifting device can be telescopic. A smaller number of degrees of freedom can save manufacturing costs. The manipulator can also be designed for particularly high loads.

[0021] If the positions of at least two different impact points are determined, the path of the line-shaped light beam can be determined.

[0022] This path is also straight, at least in free space. Thus, it can be proposed that the lifting device of the construction robot moves according to the positions of at least two of the impact points. To approach the working position on the building ceiling, therefore, the path of the line-shaped light beam can first be determined. Specifically, the inclination angle of the line-shaped light beam relative to the vertical line and / or relative to the surface normal of the building ceiling can be determined by the working position. Then the lifting device can be tilted until the lifting device occupies a position corresponding to the determined inclination angle. Then, the lifting device can be extended in a straight line until the lifting device reaches the ceiling of the building. In this way, the tool on the manipulator can be guided parallel to at least a part of the line-shaped light beam.

[0023] Thus, in general, it can be advantageous that: based on the working position, the lifting device is tilted relative to the vertical line and / or relative to the surface normal of the building component according to the positions of at least two of the impact points.

[0024] Also falling within the scope of the present invention is a construction robot for performing construction operations on a building component, the construction robot including a portable platform, a manipulator on which a tool can be arranged and / or has been arranged, and at least one light sensor, wherein the construction robot is configured to determine the position of the impact point of the line-shaped light beam on the construction robot by means of the light sensor.

[0025] Such a construction robot provides the prerequisite for implementing the above method.

[0026] Preferably, the construction robot can have a control unit. The control unit can have a computer. The computer can have a processor and a memory, and program code executable on the processor is stored in the memory. The program code can be designed such that when the program code is executed on the processor, the method is executed by the construction robot.

[0027] Specifically, the construction robot can be configured to determine the positions of at least two different impact points of the line-shaped light beam on the construction robot.

[0028] The construction robot can have at least one light sensor, specifically a linear light sensor and / or an area light sensor. Preferably, the construction robot can have a total of at least two light sensors. Specifically, the construction robot can be configured to use at least two light sensors to detect at least two different impact points of the line-shaped light beam. A plurality of light sensors can be arranged at a certain distance from each other. This allows the position of the impact point to be determined from a particularly large area. Thus, the path of the line-shaped light beam can be determined particularly precisely.

[0029] The construction robot can have at least one rangefinder, such that further data regarding the position of the working position can be obtained independently of the line-shaped beam.

[0030] It is also conceivable that the construction robot is configured to perform the above method. For this purpose, the construction robot can be configured to record and evaluate images of the light image. The data obtained in this way can be used to compensate for errors in order to determine the position of the working position even more precisely and, if necessary, even more reliably.

[0031] The construction robot can be configured to perform construction operations, specifically identical construction operations, on the surface of the building component along the line-shaped beam at a number of working positions that are equally spaced apart from one another.

[0032] The construction robot can have a rangefinder, such as a laser rangefinder. The rangefinder can be arranged and / or oriented horizontally. The rangefinder can be configured to identify markers of a position marker, such as a reflective surface. The rangefinder can be set to perform measurements only when the marker, specifically the reflective surface, is identified.

[0033] The construction robot can also have at least one odometry distance measuring device, specifically at least one radiation measuring sensor. The measurement data from the rangefinder can take precedence over the odometry measurement data. Specifically, as long as there is no excessive deviation between the odometry measurement data and the measurement data of the rangefinder, the system accuracy can be enhanced by using the measured values of the rangefinder.

[0034] The portable platform can also include a mobile platform. To ensure sufficient anti-tipping safety, the portable platform, specifically the mobile platform, can have at least three drive points that are preferably independent of one another. To be able to move the portable platform, at least one, preferably at least two, of these drive points can be motor-driven. For example, one drive point can be a thruster, a wheel, a chain drive, and / or a drive leg.

[0035] For example, the mobile platform can include a wheeled chassis. For example, the wheeled chassis can have three or four wheels.

[0036] The portable platform can have a carrier. The manipulator can be arranged on the carrier.

[0037] The portable platform can be configured to rotate the manipulator relative to the vertical line and / or the surface normal of the building component to be constructed. For this purpose, the carrier can be pivotally arranged on the portable platform.

[0038] If the manipulator is pivoted until the tool reaches the working position, the manipulation movement of the portable platform, in particular a mobile platform, can be reduced or avoided. For this purpose, the tool (in particular with its longitudinal axis) can be oriented at an inclination angle to the surface normal of the building component in the working position.

[0039] By pivoting the carrier and / or the manipulator, any unevenness in the surface on which the construction robot is located can also be compensated for.

[0040] The manipulator can have a mechanical tool at its free end. The tool can be accommodated in the mechanical tool.

[0041] The manipulator can also include a lifting device. Specifically, the manipulator can be formed as a lifting device. The length of the lifting device can be variable, in particular telescopic. Such a manipulator can be particularly suitable for working on building ceilings.

[0042] The construction robot can be suitable for use with different types of mechanical tools and tools.

[0043] Examples of tools can be drilling tools (especially for hammer drilling in masonry), steel drilling tools or wood drilling tools, chiseling tools or assembly tools. An assembly tool can be, for example, a tool for assembling, in particular for assembling fastening elements such as screws, nails, anchors or pins. It is also conceivable that the tool is a marking tool, such as a paint nozzle. It is also conceivable that the tool is a monitoring tool and / or a measuring tool, for example the tool can include a rangefinder and / or a camera.

[0044] Like the tool, the mechanical tool can be a power drill (especially a hammer drill), a power chisel, an assembly device (such as a direct assembly device for assembling nails), a power screwdriver (such as a screwdriver with or without impact), etc.

[0045] In order to control one or more (preferably all) of the above functions of the construction robot, the construction robot can have a control computer.

[0046] The control computer can have a processor, a memory unit and program code that can be executed by the processor. The processor can have one or more sub-processors. The program code can be configured to: when executed on the processor, implement one or more of the functions, in particular all of the functions, by controlling the corresponding elements of the construction robot.

[0047] Specifically, it can be envisaged that the program code of the construction robot, in particular the control computer of the construction robot, is configured to execute the above method by controlling additional elements of the construction robot.

[0048] The construction robot may have an acceleration and / or inclination sensor, such as an inertial measurement unit, hereinafter referred to as "IMU". The acceleration sensor and / or inclination sensor may be arranged on the mobile platform. Alternatively or additionally, these sensors may also be arranged on the lifting device and / or the power tool.

[0049] The construction robot may be configured to perform construction operations at a building construction site and / or a civil engineering construction site.

[0050] The building components may include, for example, a building ceiling, a building wall and / or a building floor.

[0051] Further features and advantages of the present invention emerge from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings and from the claims, which show the essential details of the present invention. The features shown therein are not necessarily considered to be in true scale, but are presented in a manner that enables the special features according to the present invention to be clearly visualized. In variants of the present invention, the various features may be implemented individually in themselves or in any combination. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Exemplary embodiments of the present invention are shown in the schematic drawings and will be explained in detail in the following description.

[0053] In the drawings:

[0054] Figure 1 The construction robot and the building components are shown in an oblique perspective view,

[0055] Figures 2 to 4 The construction robot according to Figure 1 is shown in side view, top view and bottom view,

[0056] Figure 5 A schematic illustration shows the inclination angle of the construction robot relative to the building component,

[0057] Figure 6 A schematic illustration shows a linear laser that marks a number of working positions with a linear light beam, where the linear light beam is detected by the construction robot,

[0058] Figure 7 The construction robot illuminated by the linear light beam is shown in front view, and

[0059] Figure 8 A method for controlling the construction robot is shown. DETAILED DESCRIPTION

[0060] In the following description of the drawings, understanding is facilitated by using the same reference numerals for identical or functionally corresponding elements in each of the respective drawings.

[0061] Figure 1 A construction robot 10 for performing operations on a building component 12 is shown. Figure 2 A side view of the construction robot 10 is shown. Figure 3 and Figure 4 A top view and a bottom view of the construction robot 10 are shown respectively.

[0062] The construction robot 10 includes a portable platform in the form of a mobile platform 14, a manipulator in the form of a lifting device 16, and a power tool 17 arranged on the lifting device 16. A tool 18 is received in the power tool 17. The tool 18 is in contact with a working position 20 on the building component 12. A prism 22 and a first linear light sensor 24, a second linear light sensor 26, and a third linear light sensor 28 are provided along the lifting device 16. The construction robot 10 also includes a control computer 46. In addition, the construction robot has a laser rangefinder 48 at the rear side, specifically on the side opposite to the linear light sensors 26, 28.

[0063] The power tool 17 is configured as a hammer drill. The tool 18 is a concrete drill.

[0064] The building component 12 is a building ceiling made of reinforced concrete.

[0065] The construction robot 10 is configured to drill holes in the building component 12 designed as a building ceiling at the working position 20.

[0066] The linear light sensors 24, 26, 28 are configured to detect the position of an incident light beam or light spot. For this purpose, each of these linear light sensors has a photosensitive sensor line 29. For the sake of simplicity of illustration, in Figure 1 only one of the sensor lines 29 of the sensor lines is provided with a reference numeral. The photosensitive sensor line 29 can have a width of, for example, 10 cm. The matrix of the individual photosensitive sensors extends over the width of the sensor line 29.

[0067] The first linear light sensor 24 and the second linear light sensor 26 are arranged vertically offset from each other, one above the other. The third linear light sensor 28 is arranged in a tilted forward manner below the second linear light sensor 26.

[0068] As an alternative or supplement, the prism 22 (specifically in combination with a total station) can be used to determine the position and / or orientation of the construction robot 10, specifically the tool 18.

[0069] The mobile platform 14 has four drive points 30. For reasons of presentation, inFigure 1 Only three of the drive points 30 can be seen therein. The drive points 30 have wheels. These wheels are directional wheels. Although not necessary, it is conceivable that these wheels are omnidirectional wheels.

[0070] Each of these drive points 30 has a height adjuster 32. The height adjuster 32 engages on a support 34. A lifting device 16 is arranged on the support 34. By means of the height adjuster 32, the support 34 can thus be pivoted. By pivoting the support 34, the lifting device 16 and the power tool 17 connected thereto and thus the tool 18 can also be pivoted. As will be explained in more detail below in conjunction with Figure 5 the construction robot 10 can thus pivot the lifting device 16 and thus the power tool 17 and its tool 18 relative to the surface normal of the building component 12 by means of the height adjuster 32 of the mobile platform 14.

[0071] The height adjuster 32 has a self-locking design. For this purpose, these height adjusters can have a worm gear mechanism. Thus, the height adjuster 32 and thus the tilt angle of the mobile platform 14 are only adjusted when the worm gear mechanism is moved, for example, by means of a servo motor.

[0072] The lifting device 16 has a single degree of freedom. Specifically, the length of the lifting device is variable. As can be seen specifically from Figure 2 the fixed rod 36 can be used to release the lower part 38 of the lifting device 16, move the lower part manually along the rest of the lifting device 16, and then fix it again on the rest of the lifting device 16. In this way, the construction robot 10 can first be manually set approximately to a first length or height from which the construction robot 10 can automatically extend the upper part 40 of the lifting device 16 as needed (specifically in an electrically driven manner) until the tool 18 reaches the working position 20 or (where applicable) penetrates into the building component 12 at this position.

[0073] Overall, the dimensions of the construction robot 10 are determined such that its total weight is less than 50 kg. For example, as shown in Figure 1 and Figure 2 if the construction robot 10 is retracted to its minimum length, its height is, for example, less than 1.5 m. The mobile platform 14 occupies an area of less than 60 cm × 60 cm. Thus, the construction robot 10 can also be carried by construction personnel without any problem and can be transferred within a conventional building, for example, from one room to another room.

[0074] The construction robot 10 also has an operation mode selection switch 42 (see in particular Figure 2) The operating mode selection switch 42 enables the construction robot 10 to be operated in a first operating mode, in which the robot automatically approaches the working position 20 with its tool 18. In the second operating mode, the construction robot 10 can be controlled by manual guidance. In the second operating mode, specifically, the lifting device 16 can be manually pivoted in a desired direction by appropriately applied pressure.

[0075] Figure 4 The IMU 44 is schematically depicted. The IMU 44 is located on the support 34 and is thus not visible in the Figure 4 bottom view of the construction robot 10.

[0076] Figure 4 The center point M of the support 34 is also shown.

[0077] The construction robot 10 is configured to measure the acceleration and tilt angle of the support 34 relative to the horizontal plane by means of the IMU 44. In this way, unevenness in the underlying surface can be detected, for example, by means of the IMU 44. The construction robot 10 is also configured to compensate for this tilt angle and / or unevenness by means of the height regulator 32 (specifically during the movement of the mobile platform 14), thus continuously protecting the construction robot 10 against tipping over.

[0078] Figure 5 Will be used to explain in more detail how the tool 18 is inclined relative to the surface normal N of the building component 12 on which the operation is to be performed, where the longitudinal axis A of the tool forms an inclination angle α.

[0079] For this purpose, in a simplified manner, Figure 5 a part of the lifting device 16 is shown. Specifically, Figure 5 it is shown that the tool 18 is in inclined contact with the building component 12 at the working position 20.

[0080] This gives a non-zero inclination angle α, specifically between the longitudinal axis A of the tool 18 and the surface normal N passing through the working position 20.

[0081] In this case, since the building component 12 corresponds to the horizontal extension of the building ceiling, the surface normal N also extends parallel to the vertical line V in the shown exemplary embodiment.

[0082] Here, for reasons of demonstration, the inclination angle α is significantly exaggerated in Figure 5 . In actual use cases, the inclination angle α can be less than 10°, specifically less than 5°, particularly preferably less than 1°, for example greater than 0.1°.

[0083] It can be seen that: The tool 18 is tilted and positioned at an inclination angle α such that the center point M of the carrier 34 (see Figure 2 ) is at a horizontal distance L from the plumb point LP, which is obtained by dropping a perpendicular line from the working position 20 to the lower surface. Accordingly, the center point M is also at a horizontal distance L from the working position 20.

[0084] Therefore, the construction robot 10 is configured to perform a construction task (drilling in this case) at the working position 20, even if the moving platform 14, specifically the center point M, is not directly below the working position 20. This eliminates the task of maneuvering the moving platform 14 in an appropriate manner to position the center point M directly below the working position 20. Obviously, it is thus also possible to reach working positions 20 that the moving platform 14 cannot reach due to lack of free space. Specifically, it is thus possible to reach, for the first time or at least more easily, the edge regions of the building component 12.

[0085] In the second operating mode (i.e., the manual operating mode), the inclination angle can be set by manually guiding the lifting device 16. Specifically, the lifting device 16 can be pivoted by applying pressure thereto. Here, the construction robot 10 is configured to limit the maximum allowable deflection and thus the maximum achievable inclination angle α to such an extent that the construction robot 10 does not tip over at any time in this operating mode.

[0086] In both operating modes, the construction robot 10 is configured to set or support the corresponding inclination of the lifting device 16 and thus the inclination angle α by subsequent adjustment of the height regulator 32. In the second operating mode, this has the effect that, for example, the manually set inclination of the lifting device 16 is maintained after the lifting device 16 has been released. Accordingly, the user can move the tool 18 closer to the working position 20 by, for example, extending the lifting device 16 under the control of a remote control (not shown).

[0087] By means of these three linear optical sensors 24, 26, 28, the profile of a linear light beam (e.g., a laser beam with a corresponding orientation) indicating the working position 20 can be detected. Based on the detected profile of the linear light beam, the position of the working position 20 can be inferred. For example, if it is known that the linear light beam is oriented in an exactly vertical manner, the three linear optical sensors 24, 26, 28 can be used, as an alternative or in addition, to determine the inclination angle of the lifting device 16.

[0088] For this purpose, Figure 6Shows a schematic representation of a linear laser 50, which marks the positions of a number of working positions 20 on a building component 12 by means of a linear beam 52, these working positions being spaced apart from one another by a predetermined constant distance. The linear laser 50 is a continuous-wave laser. The linear beam 52 exits the linear laser 50 at a beam angle of, for example, 180°. The linear beam thus marks a continuous line 54 along the building component 12.

[0089] At three impact points AP1, AP2 and AP3, the linear beam 52 strikes linear optical sensors 24, 26, 28, specifically their respective sensor lines 29 (see Figure 1 ).

[0090] Using the laser rangefinder 48 of the construction robot, the construction robot 10 uses a measurement beam 56 to measure the second coordinate x of the position marker 58. For this purpose, the position marker 58 is in the form of a reflector. The position marker is fixed to the wall 60.

[0091] Figure 7 Is shown in a front view in the case according to Figure 6 of the construction robot 10.

[0092] It can be seen that the linear beam 52 is offset from the longitudinal axis A of the tool 18 by an offset distance dv. Thus, the tool 18 is aligned with a destination 62 on the building component 12 at a certain distance from the working point 20.

[0093] The linear beam 52 strikes the linear optical sensors 24, 26 and 28 at the impact points AP1, AP2, AP3.

[0094] In Figure 7 the example shown, the lifting device 16 is vertically oriented such that the longitudinal axis A extends parallel to the linearly oriented beam 52 which is also vertical.

[0095] Thus, in this example, the distances of the impact points AP1, AP2 and AP3 from the longitudinal axis A correspond to the offset distance dv. If the linear beam 52 is not parallel to the longitudinal axis A, different distances will be produced on the respective linear optical sensors 24, 26, 28, from which the inclination of the longitudinal axis relative to the linear beam 52 can be inferred.

[0096] The construction robot 10 measures the distances of the impact points AP1, AP2 and AP3 from the longitudinal axis A and uses these distances to determine the offset distance dv. Thereby, the construction robot 10 then determines the tilt angle α (see Figure 5 ), according to which the lifting device 16 and thus the tool 18 must be rotated in the direction marked by the arrow in Figure 7 such that the tool 18 can be moved to the working position 20.

[0097] As described in connection with Figure 5 the construction robot 10 then rotates the lifting device 16 to compensate for the determined tilt angle α in order to compensate for the offset distance dv and to align the tool 18 with the impact point of the line beam 52 on the building element 12 and thus with one of the working positions 20.

[0098] The second coordinate x can be used to determine the position of the tool 18 along the line 54.

[0099] Figure 8 A method 1000 for controlling a construction robot is shown.

[0100] To explain the method 1000, reference is made to the above Figures 1 to 7 and the reference signs introduced therein.

[0101] The example of drilling at the working position 20 of the building element 12 with the aid of a construction robot (for example, the construction robot 10) is also used to illustrate the method 1000.

[0102] In a start phase 110, the construction robot 10 uses its mobile platform 14 to move into the beam path of the line beam 52 such that the line beam hits the linear light sensors 24, 26, 28 at the impact points AP1, AP2, AP3. The construction robot moves the mobile platform 14 until the laser range finder 48 detects and identifies the position marker 58 with its measuring beam 56.

[0103] In phase 120, the mobile platform 14 moves along the line beam 52 until the second coordinate x corresponds to the next working position 20 at which the operation is to be performed. The impact points AP1, AP2, AP3 are continuously checked while the mobile platform 14 is moving and corresponding corrective movements are made if necessary so that the line beam 52 does not deviate from the sensor line 29.

[0104] As described in connection with Figure 7 in phase 130, the construction robot 10 determines the offset distance dv and the required tilt angle α.

[0105] Subsequently, in phase 140, the construction robot 10 rotates its lifting device 16 according to the determined tilt angle α in order to align the tool 18 with the next working position 20 to be machined, as described in connection with Figure 5 Thus, the construction robot 10 moves the tool 18 according to the positions of the impact points AP1, AP2 and AP3 of the line beam 52 on the construction robot 10. Specifically, the construction robot 10 thus moves the tool 18 according to the distances of the impact points AP1, AP2, AP3 from the longitudinal axis A.

[0106] The construction robot 10 then extends the lifting device 16 in stage 150 in order to move the tool 18 to the working position 20.

[0107] Once the tool 18 has reached the next working position 20 where the operation is to be performed, the desired construction operation is carried out in stage 160.

[0108] According to the example taken as a basis here, the power tool 17 is specifically activated, as a result of which the tool 18 begins to drill at the working position 20. In order to carry out the drilling, the lifting device 16 is adjusted according to the progress of the drilling.

[0109] Once the hole drilled by the tool 18 has reached the desired depth, the lifting device 16 is at least partially retracted again in order to withdraw the tool 18 from the hole.

[0110] Then the power tool 17 is deactivated.

[0111] If there are additional working positions 20 where the operation is to be performed, method 1000 can be repeated at shorter intervals, starting in stage 120, i.e., detecting the relative position.

[0112] Once all construction operations have been completed at all working positions 20 where the operation is to be performed, method 1000 can be terminated.

[0113] List of reference numerals

[0114] 10 Construction robot

[0115] 12 Building component

[0116] 14 Mobile platform

[0117] 16 Lifting device

[0118] 17 Power tool

[0119] 18 Tool

[0120] 20 Working position

[0121] 22 Prism

[0122] 24 Linear optical sensor

[0123] 26 Linear optical sensor

[0124] 28 Linear optical sensor

[0125] 29 Sensor line

[0126] 30 Drive point

[0127] 32 Height regulator

[0128] 34 Support

[0129] 36 Fixed rod

[0130] 38 Lower part

[0131] 40 Upper part

[0132] 42 Operating mode selection switch

[0133] 44 IMU

[0134] 46 Control computer

[0135] 48 Laser rangefinder

[0136] 50 Linear laser

[0137] 52 Linear beam

[0138] 54 Line

[0139] 56 Measurement beam

[0140] 58 Position marker

[0141] 60 Wall

[0142] 62 Destination

[0143] 110 Starting phase

[0144] 120 Phase

[0145] 130 Phase

[0146] 140 Phase

[0147] 150 Phase

[0148] 160 Phase

[0149] 1000 Method

[0150] A Longitudinal axis

[0151] AP1 Impact point

[0152] AP2 Impact point

[0153] AP3 Impact point

[0154] L Distance

[0155] LP Plumb point

[0156] M Center point

[0157] N Surface normal

[0158] V Vertical line

[0159] α tilt angle

[0160] dv offset distance

[0161] x second coordinate

Claims

1. A method (1000) for controlling a construction robot (10), wherein the construction robot (10) is controlled to move a tool (18) arranged on a manipulator of the construction robot (10) to at least one working position (20) on a building component (12), wherein the working position (20) is marked by means of at least one linear light beam (52). Characterized in that the construction robot (10) moves the manipulator and / or the tool (18) according to the position of the impact points (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10).

2. The method (1000) according to the preceding claim, characterized in that, The position of the impact points (AP1, AP2, AP3) is determined by means of at least one linear light sensor (24, 26, 28) or area light sensor.

3. The method (1000) according to one of the preceding two claims, characterized in that, At least two positions of two different contact points (AP1, AP2, AP3) of the linear light beam (52) are detected on the construction robot (10).

4. The method (1000) according to one of the preceding claims, characterized in that, At least one position of the impact points (AP1, AP2, AP3) is detected on the manipulator.

5. The method (1000) according to any one of the preceding claims, characterized in that, Furthermore, at least one second coordinate (x) is measured, such as the distance to the building component (12) and / or to a second building component (12).

6. The method (1000) according to one of the preceding claims, characterized in that, The manipulator of the construction robot (10) pivots according to the positions of at least two of these contact points (AP1, AP2, AP3).

7. The method (1000) according to any one of the preceding claims, characterized in that, According to the positions of at least two of these contact points (AP1, AP2, AP3), the manipulator is tilted relative to the vertical line (V) and / or relative to the surface normal (N) of the building component (12) based on the working position (20).

8. A construction robot (10), the construction robot comprising: A portable platform, such as a mobile platform (14); a manipulator, such as a lifting device (16), on which a tool (18) can be arranged and / or has been arranged, and further comprising at least one light sensor, wherein it is desired that the construction robot (10) determines the position of the impact points (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10) by means of the light sensor.

9. The construction robot (10) according to the previous claim, characterized in that, The construction robot (10) is configured to determine the positions of at least two different contact points (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10).

10. The construction robot (10) according to one of the two preceding claims, characterized in that, The construction robot (10) has at least a total of at least two, specifically three, linear light sensors (24, 26, 28) and / or area light sensors.

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