Methods, positioning devices, computer program products, and construction robots for locating target positions.

Abstract

The present invention relates to a method (1000, 1001) for locating a target position (226) at a construction site (200) by means of a positioning device (32), the construction site being, for example, an above-ground construction site (200) or an underground construction site (200), the target position being, in particular, a work position, the position of a construction robot (10), or the position of a portable device. The positioning device (32) approximates the target position (226), that is, the positioning device determines the portion (210) of the construction site (200) where the target position (226) is located. This can improve the reliability of the positioning. The invention also relates to a positioning device (32), a computer program product (30), and a construction robot (10).

Description

[0001] This invention relates to a method for locating a target position at a construction site.

[0002] For example, in order for a construction robot to perform construction work at a target work location, the construction robot must locate that work location.

[0003] Outdoors, it's conceivable to use a satellite-based positioning system to achieve this. However, such a system would require receiving signals from multiple satellites.

[0004] However, this is not always a reliable option at all construction sites. For example, reliable positioning using satellite-based systems is often not possible during construction work inside buildings. Outdoor areas of the construction site may not receive sufficient signal, depending on weather conditions.

[0005] To date, methods known for example, using a total station to determine the location of a target within a building have been employed.

[0006] However, using such a total station, one can only determine the coordinates of a target location within a part of the construction site, such as inside a room, relative to predefined calibration marks. The use of a total station also requires determining the line of sight between the total station's position and the target location.

[0007] Therefore, to successfully deploy a total station, it needs to be placed in the correct part of the construction site and a line of sight needs to be established.

[0008] Modern office complexes and other buildings (such as production sites) often have repetitive and / or mirror-symmetric designs. For example, in an office complex, it's possible that multiple identical individual offices will be built adjacent to each other. If no global positioning signal (such as a satellite-based positioning system) is available in the office complex, a total station can be used within an individual office to determine its location, but there is no guarantee that the target location determined within that particular individual office will actually be located in the correct individual office; that is, the determined location will not actually correspond to the target location to be determined. For example, the total station might simply be located in another individual office.

[0009] Therefore, the object of the present invention is to provide a method and apparatus that enable reliable determination of target locations at any construction site, particularly at construction sites where signals from satellite-based positioning systems cannot be received or are not adequately received.

[0010] This objective is achieved through a method for locating a target position at a construction site using a positioning device, such as an above-ground or underground construction site. The target position is, in particular, a work location, the location of a construction robot, or the location of a portable device. The positioning device approximates the target position, i.e., determines the portion of the construction site in which the target position is located. This approximate location may include the positioning device determining the specific portion of the construction site in which the target position is located, for example, in the case of a building, in which room, floor, or area of ​​the building.

[0011] Location can include directional data, such as the position or orientation of an object, as an alternative to or supplement to length coordinates. Specifically, in addition to the 2D or 3D coordinates of the target location, it can also include one-dimensional, two-dimensional, or three-dimensional directional data. This means that location can correspond to three-dimensional, four-dimensional, five-dimensional, or six-dimensional data.

[0012] The present invention is conceived to replace the use of a positioning system (such as a satellite-based positioning system) with a multi-step positioning method (one step of which includes coarse positioning), which is essentially designed to determine the position globally in a single measurement step using a global coordinate system. Coarse positioning can avoid errors and measurement inaccuracies that can occur at different stages of construction, for example in buildings with repetitive and / or mirror-symmetric structures.

[0013] If the identification marker is attached to a portion of the construction site (e.g., a room), rough positioning can be achieved simply by evaluating, and in particular reading, the identification marker on the construction site portion using a positioning device. For example, the identification marker can be placed on walls, doors, floors, and / or ceilings. The identification marker can identify a portion of the construction site in which it is located. For example, the identification marker may include a room number or a floor number. For example, the positioning device can be configured to evaluate room numbers. The positioning device can be configured to analyze specific areas of walls, door frames, floors, and / or ceilings. For example, it is conceivable that the positioning device is configured to read floor numbers, for example, from a display unit or sign on an elevator.

[0014] The positioning device may include a camera. The positioning device may be configured to use the camera to record images. The positioning device may be configured to use an image processing unit to evaluate the image recording.

[0015] The positioning device can also determine the part of the construction site where the target location should be located. For example, the positioning device can be configured to acquire construction site plans, such as BIM models and / or CAD data. By comparing the data obtained from the markers with the identified parts of the construction site, the positioning device can determine, for example, whether the target location is located within that part of the construction site, such as the room where the positioning device itself is located and / or the room to which the markers have been evaluated by the positioning device.

[0016] If the positioning device is located in an incorrect section of the construction site, it can output a warning signal. Alternatively or additionally, it is conceivable that the positioning device moves itself or another device (such as a construction robot or total station) to another section of the construction site, specifically to the correct section, or that the positioning device correspondingly controls another device to move to another section of the construction site. This process can be repeated if necessary until the positioning device has identified the correct section of the construction site or, optionally, has reached that section.

[0017] The identification markers can also be evaluated while the positioning device is still approaching or moving over a portion of the construction site. For example, the positioning device can be configured to record and evaluate image recordings from floor numbers displayed in or on an elevator. Thus, the positioning device can determine, for example, which floor it is on or whether it is on the floor where the target location should be.

[0018] Therefore, this method can ensure that the desired target location is actually determined or is likely to be found, rather than being determined as another similar location in another part of a construction site simply because the construction site has, for example, a high degree of symmetry.

[0019] Therefore, the reliability of determining the target location can be greatly improved. The serious consequences of fundamentally incorrect positioning can be avoided, or at least the probability of incorrect positioning can be significantly reduced. In particular, this method can prevent autonomous construction robots from performing construction work in completely incorrect parts of the construction site due to incorrect target location. To this end, it can be stipulated that the construction robot uses this positioning device according to the method or can obtain positioning data from the method. Then, the method can help avoid such incorrect work and significantly reduce the correction work and associated cost risks required for such incorrect work.

[0020] The method can be specified in a separate step: the construction robot precisely locates the target position, i.e., determines the target position relative to one or more calibration positions (e.g., reference points). Calibration positions can be, for example, calibration position markers, particularly calibration position markers within the construction site section where the positioning device is located. It is also conceivable to use points on the existing structure as calibration positions. For example, a corner of a room can also be used as a calibration position, provided that the corner can be assigned to a planned coordinate system in which the target position is defined. For example, the construction robot can be designed to place a total station on the construction site section. Using the total station, if the robot has previously used the positioning device to determine that it is in the correct construction site section, the robot can precisely locate the target position within that construction site section.

[0021] For example, a robot can determine which wall and within which part of the wall the target location is located on. Instead of a total station, or in addition to a total station, it is conceivable that construction robots could use one or more LiDAR sensors and / or one or more cameras to achieve fine-grained positioning. For example, SLAM algorithms could be used for fine-grained positioning.

[0022] However, such markings for identifying the corresponding parts of the construction site are usually not available, for example, in the early stages of a construction site.

[0023] Therefore, in one variant of this method, it can be specified that, for coarse positioning, the positioning device evaluates at least one signal originating from outside the construction site, particularly from outside the construction site itself. The signal can originate from a signal source located outside the construction site, particularly outside the construction site itself. The signal source may have generated or significantly altered the signal. For example, a mountainside acting as a signal source may have reflected sunlight as the original signal and thus significantly altered its color, making the mountainside imaged or detectable in reflected light rather than sunlight. The signal can typically be electromagnetic, particularly optical or magnetic, acoustic or vibration-related, gravitational, material-related, thermal or nuclear-physical, such as a radioactive-related signal. Material-related signals can be, for example, wind speed or direction, moisture content (particularly humidity levels), pressure (e.g., air pressure), etc. Radon activity (e.g., as a measure of altitude within a building) can be envisioned as a radioactive-related signal. Sound intensity, timbre, and / or direction (e.g., street noise) can be envisioned as acoustic signals. For example, this allows identification of which of two opposite directions a road might be located in, even if the road is not in sight. For example, the amplitude, frequency or spectrum and / or type of vibration of the floor surface where the positioning device is located can form an indicator of altitude within the building, and thus form an indicator such as a floor number.

[0024] In another variant of this method, it can be specified that, for coarse positioning, the positioning device evaluates at least one natural signal.

[0025] Natural signals can be understood as signals that originate from naturally occurring, non-man-made signal sources.

[0026] For example, a natural signal could be the Earth's magnetic field. For this purpose, a positioning device could include a magnetic field sensor. A magnetic field sensor allows the positioning device to determine its orientation and / or the direction in which the target location to be determined must lie. In many cases, the search area must be within which the target location to be determined, and thus can be limited to a sub-area of ​​the entire construction site, such as half or even a quarter of the entire construction site.

[0027] The gravitational constant can provide an indication of the concentration of adjacent masses. For example, this allows for the acquisition of an indicator in the form of a signal, which, in the case of very tall structures, provides an estimate of the height above the ground. This also takes advantage of the fact that skyscrapers and the like are essentially formed by enclosed cavities, such that the gravitational constant decreases with increasing distance from the ground. Floor numbers can also be determined in this way, for example.

[0028] Natural signals can also be based on air pressure. Floor numbers can also be determined from air pressure. Specifically, it's conceivable that construction robots record changes in air pressure. For example, a construction robot could determine a baseline horizontal air pressure upon entering a construction site. By repeatedly measuring the air pressure and calculating the difference relative to the baseline horizontal air pressure, the construction robot can infer any changes in its altitude, and thus, consequently, the floor number.

[0029] It is also conceivable to evaluate multiple signals in combination. For example, signals such as air pressure and temperature, vibration behavior, etc., can be combined to determine altitude or floor number. This combination allows for improved reliability.

[0030] In one variant of this method, it is conceivable that the natural signal is based on light, such as light originating from space, particularly sunlight, moonlight, and / or other forms of starlight. This is particularly conceivable in situations where external light can enter the interior of the construction site from the outside, especially in the section of the construction site where the construction robot is located. This could involve rooms, for example, with windows, glass curtain walls, light wells, etc.

[0031] The signal can be based on the direction of light incidence. For example, a positioning device can be envisioned being configured to determine the direction of light incidence. Combined with the time of day, this can be used, for example, to determine which construction site area the positioning device is located in, such as a construction site area divided into north, south, east, or west. Alternatively or additionally, shadows can also be detected. For example, the direction of the shadow can be determined, which yields an assessment option for coarse positioning similar to the analysis of the direction of light incidence.

[0032] In particular, it can be envisioned that the natural signal is a light signal. For example, light signals can be detected by recording images, especially images of a construction site or an area outside a portion of the construction site. Therefore, it can be envisioned that a positioning device records images through windows, glass curtain walls, etc. Geographical elements can then be displayed on the image recording, which can then be used for coarse positioning.

[0033] For rough positioning, this process can use GIS data. Based on this signal, the positioning device can determine, for example, the area of ​​the construction site where the positioning device is located, or even a part of the construction site.

[0034] The positioning device can compare image recordings with GIS data, a portion thereof, or model calculations based on GIS data.

[0035] In a building with two mirror-symmetrically arranged rooms, each with a window offering a view of the construction site, this comparison allows for the differentiation of rooms that are identical in all aspects except for mirror symmetry. GIS data can include map data of the construction site environment. For example, one side of the construction site may have a mountain. On the other side, for example, a building may be under construction. Depending on whether the image record shows a mountain or a building, the positioning device may be located in one room or the other, or oriented in one direction or the other.

[0036] Another significant advantage is the high availability of this GIS data. Especially for cities and towns, even the structure of individual building floors is often stored in GIS data. In this way, streets or even individual houses can be identified and distinguished from each other. This allows for the differentiation of multiple rooms that are identical or nearly identical to each other, except for symmetry. Within a series of multiple adjacent rooms, the numerical location of the rooms in that series can be determined.

[0037] Of particular advantage is the use of GIS data in such coarse positioning to evaluate additional optical and / or acoustic signals. This can also be done as part of the evaluation of image recordings. In this case, rooms can be distinguished even if the construction site is located in an area with inherent high symmetry. This may be the case, for example, if the construction site is located near row houses, etc.

[0038] The present invention further relates to a method for a construction robot to perform construction work at a target location on a construction site, such as an above-ground or underground construction site. The method involves a positioning device using the aforementioned method to approximate the target location, i.e., determining the portion of the construction site where the target location is located, wherein the coordinates of the target location are determined relative to the portion of the construction site or relative to the construction site itself, and wherein the construction robot performs construction work at the target location. According to this method, the construction robot is approximated using the aforementioned method.

[0039] Furthermore, the construction robot can select the construction work to be performed from a database (e.g., CAD models, BIM (Building Information Modeling) databases, etc.). The construction robot then performs the selected construction work. This method reliably ensures that construction work is carried out in the correct part of the construction site, such as in the correct room.

[0040] It is conceivable that a construction robot selects construction tasks based on the type of work. For example, if a construction robot is designed only for one type of construction work, such as drilling, then the robot can be configured to select only construction tasks that it can perform at least partially, i.e., in this example, construction tasks that include drilling.

[0041] If construction robots are designed to perform different types of construction tasks, it can be envisioned that the robots will systematically select and perform tasks in sequence according to task type. This avoids inefficient interruptions, such as those for changing tools and / or machine tools.

[0042] Construction robots can select the construction work to be performed using a roughly located portion of the construction site. For example, if the construction robot has been roughly located to the extent that it is known which area of ​​the construction site it is in, it can preferably select construction work in its vicinity, particularly within the same portion of the construction site where it is located. This allows for minimizing or even avoiding interruptions caused by changing the location of the construction site.

[0043] In order to perform selected construction work, construction robots can now identify the work location of the selected construction work as the target location. For example, the construction robot can use a total station located in part of the construction site or place such a total station on part of the construction site.

[0044] The present invention further relates to a positioning device for locating a target position, the positioning device being configured to perform the aforementioned method for locating the target position. The positioning device may include a computer. The computer may include at least one processor and memory. Program code executable on the processor may be retrievably stored in the memory. The positioning device may include one or more sensors. The sensors may be configured to measure signals or different signals. For example, the positioning device may have a camera and / or a microphone, such as a stereo microphone. The positioning device may also have a display unit to display the results. For example, the positioning device may be designed in the form of a smartphone. The positioning device may also be part of a distributed computing system (such as a cloud-based computing system).

[0045] The present invention further relates to a computer program product designed to perform the aforementioned method for locating a target position when executed on a positioning device. The computer program product may be retrievably stored on a storage medium. The storage medium may be non-volatile or volatile memory. The computer program product may be part of a distributed computing system (such as a cloud-based computing system). The computer program product may be stored on the distributed computing system so that it is retrievable and / or executable via the Internet.

[0046] The present invention further relates to a construction robot for performing construction work at a target location on a construction site, the construction robot comprising a mobile platform, a robotic arm, and a positioning device. The positioning device may be at least partially integrated into the control system of the construction robot. For this purpose, the control system may include a computer program product. The mobile platform may be, for example, a drive platform or a flight platform.

[0047] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings, which illustrate essential details of the invention. The features shown are not necessarily considered to be true scale, but are presented in a manner that clearly visualizes the specific features according to the invention. In variations of the invention, various features may be implemented individually or collectively in any combination.

[0048] Exemplary embodiments of the invention are shown in the schematic diagrams and will be explained in detail in the following description.

[0049] The attached diagram shows:

[0050] Figure 1 Construction robots;

[0051] Figure 2 Construction site section;

[0052] Figure 3 A schematic representation of the construction site and related GIS data, and

[0053] Figure 4 method.

[0054] In the following description of the accompanying drawings, the understanding of the invention is facilitated by using the same reference numerals for the same or functionally corresponding elements in each case.

[0055] Figure 1 A construction robot 10 is shown, which has a mobile platform 12 designed as a tracked chassis, a control space 16 formed in a housing 14, and a robotic arm 18 disposed on top of the housing 14. The robotic arm 18 includes a lifting device 17 for vertical movement and a multi-axis controllable arm 19. In general, the robotic arm 18 can extend to a maximum range of at least 4 m, such that, taking into account the dimensions of the mobile platform 12 and the housing 14, construction work can be carried out at a height of at least 4.5 m.

[0056] An end effector 20 with a conversion interface 21 is located at the free end of arm 19.

[0057] A power tool 22 is disposed on the conversion interface 21. In this exemplary embodiment, the power tool 22 is a setting power tool in the form of an impact wrench.

[0058] There is also a camera 24 located on the conversion interface 21.

[0059] In addition, the construction robot 10 includes a cleaning device 26 for cleaning the camera 24, and in particular the sensor surface of the camera 24. With the aid of the arm 19, the camera 24 can be moved to the cleaning device 26 and cleaned by the cleaning device.

[0060] Furthermore, the construction robot 10 includes a controller 27 arranged in the control space 16. The controller 27 includes a computer unit having a memory unit 28 and a processor 29.

[0061] The controller 27 is equipped with an executable computer program product 30. The computer program product 30 can be retrievably stored in the memory unit 28 and can be executed on a computer unit. The controller 27 is configured by means of the computer program product 30 to evaluate the image recording of the camera 24 and implement the methods described in more detail below. Therefore, the positioning device 32 is formed together with the camera 24 and the controller 27 (including the computer program product 30).

[0062] GIS data is stored, in particular, in memory unit 28. In alternative embodiments, it is conceivable that the construction robot 10, and especially the controller 27, is configured to retrieve GIS data from a remote computer system (e.g., a cloud-based computer system accessible via the Internet), and / or send data, particularly image records, to the remote computer system. Thus, in alternative embodiments, it is conceivable that the image records are evaluated by the construction robot 10 locally and / or by the remote computer system.

[0063] In addition, the construction robot 10 is configured to detect contamination on the sensor surface of the camera 24, and, if necessary, clean the sensor surface with the aid of the cleaning device 26.

[0064] The construction robot 10 is designed to perform various construction tasks on ceilings, walls, or floors, particularly above-ground or underground construction sites. To enable the use of specific power tools and / or cutting tools for these tasks, the construction robot includes a tool changer 34, which can accommodate various power tools and / or cutting tools. The construction robot 10 is also configured to select and mount power tools and / or cutting tools on the end effector 20, or, if necessary, replace cutting tools or power tools already mounted on the end effector.

[0065] The construction robot 10, particularly the robot arm 18, may include additional devices such as prisms, paint spraying equipment, rangefinders, position and / or attitude determination logic, additional cameras, etc., although for simplicity, these devices are not listed here. Figure 1 As shown in the image.

[0066] Figure 2 From the construction robot 10 or its positioning device 32 (both see) Figure 1 The image shows the construction site section 210 of construction site 200 from an angle, with the construction robot and its camera 24 located in the entrance area of ​​construction site section 210. Construction site section 210 corresponds to a room in a larger building. Construction site section 210 has a window 212. When viewed through window 212, mountain 214 can be seen. Furthermore, the sun 216 is visible through window 212. Specifically, sunlight 217 shines into construction site section 210. According to... Figure 2 In the illustration, sunlight 217 radiates from the left front into the construction site section 210.

[0067] In addition, markers 220 are arranged on wall 218. Markers 220 identify construction site section 210. In cases that may correspond to an early construction phase, for rough positioning, positioning device 32 can use camera 24 to capture and record images of markers 220 and identify construction site section 210, and thus roughly locate the construction site section by evaluating the image recording. Depending on the quality of the markers, and especially the amount of data stored in the markers 220, this may be sufficient to uniquely identify construction site section 210. For example, in cases with a small amount of data, at least a floor number or the like can be identified.

[0068] For the earlier stages of the construction process, construction robot 10 (explained in more detail below, especially in conjunction with...) Figure 4 It can evaluate the image recording of its view through window 212 for rough positioning.

[0069] The total station 222 is located in the construction site section 210. The total station 222 aims its laser beam 224 at a target location 226. In this exemplary embodiment, the target location 226 corresponds to the work location where construction work (e.g., drilling) is to be performed. To be able to aim at the target location 226, the total station 222 can automatically calibrate itself. For example, it can be designed to measure the position and orientation of the zero point window 212 relative to the surrounding wall 228, which corresponds to, for example, a corner of the window 212. The total station 222 can then determine the target location 226 based on its position and orientation relative to the window 212.

[0070] The construction robot 10 can use its positioning device 32 to confirm, relative to the target location 226 where subsequent construction work is to be carried out, that the construction site section 210 actually corresponds to the construction site section where the target location 226 should be located; that is, to perform a rough positioning. In this exemplary embodiment where the positioning device 32 is part of the construction robot 10, this could mean that the construction robot 10 checks whether the location targeted by the laser beam 224 is in the correct room within the construction site 200.

[0071] According to Figure 2 In this scenario, the total station 222 is already located in the construction site section 210. It is also conceivable that the total station 222 itself is mobile. For example, the total station could have a drive platform. The construction robot 10 could then be configured to bring the total station 222 close to it and thus move it into the construction site section 210.

[0072] Therefore, the total station 222 can then precisely locate the target position 226 within the construction site section 210.

[0073] Subsequently, the construction robot 10 can perform the desired construction work task, such as drilling, at the now determined target location 226. It has been verified that the construction robot 10 is in the correct construction site section 210, i.e., in the correct room, for this target location.

[0074] Figure 3 The construction site 200, its surroundings, and the construction site portion 210 are now shown schematically from above.

[0075] Construction site 200 has multiple identical, at least symmetrically designed construction site sections, each in the form of a separate room, wherein construction site section 210 is located in... Figure 3 It was marked in, and Figure 3 In the case shown, the construction robot 10 is located in part of the construction site.

[0076] Adjacent to window 212 is area 213 outside the construction site 200. Therefore, the view from window 212 allows the reception of natural signals in the form of light or optical images of area 213, including mountain 214.

[0077] Additionally, GIS data 227 representing supplementary landscape data is schematically shown. For example, the GIS data stores the fact that a mountain 214 exists to the west of construction site 200, and a building 229 exists to the east. The direction of sunlight 230 is also marked. (Based on...) Figure 3 The example represents the time of day, with the incident direction 230 extending roughly from southwest to northeast.

[0078] Construction robot 10 (also) Figure 3 (Schematally shown in the diagram) is located on the west side of construction site 200. This can be achieved by construction robot 10 (as shown in the diagram). Figure 3 As can be seen in the image, the location is determined based on the evaluation of the image recording, and in particular, based on the analysis of the incident direction 230 and the detection of the mountain 214. If the construction robot 10 receives an image recorded on the opposite side of window 212 through a window in an adjacent construction site section corresponding to window 212, the rough location can be further confirmed. For example, in such an image recording, the construction robot 10 can identify building 229.

[0079] Based on the incident direction 230, mountain 214 is located on the left side of the construction robot, and building 229 is located on the right side of the construction robot. Additionally, rough positioning can be achieved using the fact that the construction robot 10 is located on wall 210 or near window 212, and therefore, for example, outside the center of construction site 200.

[0080] Figure 4 A flowchart illustrates a method 1000 for carrying out construction work at a target location on a construction site, including a method 1001 for locating the target location on the construction site, which includes a portion of the various stages of the method 1000.

[0081] The following text uses the figure labels described above to explain method 1000 and 1001 in more detail.

[0082] First, in stage 1010, the construction robot 10 visits a portion of the construction site, which can be assumed to actually contain the target location 226 to be determined on that portion. For example, the construction robot 10 visits construction site portion 210. However, this implicit assumption must be verified as part of method 1001.

[0083] In phase 1020, construction robot 10 searches for signals that can be used for coarse localization. (Refer to the preceding text.) Figure 2 and Figure 3 The construction robot 10 identifies, for example, a passageway opening through which the outside is clearly visible. Specifically, the construction robot first identifies a window 212 using its camera 24. As a signal in this exemplary embodiment, it can provide, for example, light entering the construction site section 210 through the window (in this case, a natural signal). In variations of this method, the construction robot 10 searches for additional signals from other directions, such as... Figure 3 As shown.

[0084] Then, in subsequent stage 1030, the construction robot 10 captures a signal, based on which it performs a rough positioning. Specifically, the construction robot 10 captures light through window 212 in the form of a view image record. It is conceivable, for example, to capture additional signals or image records from other directions. In particular, the construction robot may create a second image record in the direction of building 229.

[0085] Subsequently, in stage 1040, the construction robot 10 evaluates the recorded signal, in this case, light or image recording. In this case, the construction robot identifies mountain 214 and determines the incident direction 230 of sunlight 217. In the second image, the construction robot identifies building 229.

[0086] The construction robot assigns two elements of the area 213 surrounding the construction site 200 to the GIS data 227 in order to first determine the relative positions of the mountain 214 and the building 229 with respect to the construction site 200.

[0087] In the subsequent stage 1050, the construction robot 10 can roughly locate itself based on determined data. In particular, the construction robot can verify that it is located in the correct construction site section 210, that is, in the construction site section where the target location 226 should be located.

[0088] If the construction robot is located in the wrong part of the construction site, it is conceivable that a warning signal will be issued and / or the construction robot 10 will move to the correct part of the construction site, or at least to another part of the construction site. In a variant of method 1000, the construction robot 10 can select a suitable direction of movement with the assistance of data obtained from two image records combined with GIS data. In this case, method 1000 can proceed to stage 1010.

[0089] In the variant shown here, method 1001 includes stages 1020 to 1050.

[0090] Phases 1020 to 1050 can be specifically performed by the positioning device 32 integrated into the construction robot 10. However, in the method variations of methods 1000 and 1001, it is conceivable that the positioning device 32 is a stand-alone device, for example in the form of a smartphone or tablet computer, and thus performs method 1001 independently.

[0091] In the next stage 1060, once the construction robot is in the correct construction site section 210, the construction robot 10 precisely positions the target location 226. This can be done, for example, by means of a total station 222. For this purpose, the construction robot 10 and / or the positioning device 32 can, for example, reposition the total station 222 (if it is not already in the correct construction site section 210) to the correct location or position it there. Alternatively, this can also be done manually. With the aid of the total station 222, the target location 226 can then be determined by aiming the laser beam 224 with reference to one or more calibration positions, which can be pre-calibrated relative to a planned coordinate system in which the target location 226 is defined. The target location 226 can be marked by the total station 222 by means of its laser beam 224.

[0092] Then, in stage 1070, the construction robot 10 can perform the desired construction task at the target location 226, which is coarsely and finely positioned and marked by the laser beam 224. If necessary, the construction robot can select a suitable tool or machine tool from the tool changer 34 and use this tool to perform the construction work. For example, in the case of drilling, the construction robot can drill a hole at the target location 226.

[0093] It is also conceivable, for example, to record the execution of construction work and transmit the corresponding log data to a remote accounting system.

[0094] List of reference numerals

[0095] 10 construction robots

[0096] 12 mobile platforms

[0097] 14 shell

[0098] 16 control spaces

[0099] 17 Lifting Device

[0100] 18 robotic arms

[0101] 19 arms

[0102] 20 end effector

[0103] 21 conversion interface

[0104] 22 Power Tools

[0105] 24 cameras

[0106] 26 Cleaning Devices

[0107] 27 controllers

[0108] 28 memory cells

[0109] 29 processors

[0110] 30 Computer Program Products

[0111] 32 Positioning Device

[0112] 34 Tool Changer

[0113] 200 construction sites

[0114] 210 Construction Site Section

[0115] 212 windows

[0116] Area 213

[0117] 214 Mountain

[0118] 216 Suns

[0119] 217 sunlight

[0120] 218 walls

[0121] 220 identification mark

[0122] 222 total station

[0123] 224 laser beams

[0124] Target location 226

[0125] 227 GIS Data

[0126] 228 walls

[0127] Building 229

[0128] 230° incident direction

[0129] 1000 methods

[0130] 1001 Method

[0131] 1010 stage

[0132] 1020 stage

[0133] 1030 stage

[0134] 1040 stage

[0135] 1050 stage

[0136] 1060 stage

[0137] Stage 1070.

Claims

1. A method (1001) for locating a target position (226) at a construction site (200) by means of a positioning device (32), the construction site being, for example, an above-ground construction site (200) or an underground construction site (200), the target position being particularly a work position, the position of a construction robot (10), or the position of a portable device, wherein, The positioning device (32) roughly locates the target location (226), that is, it determines the part of the construction site (210) where the target location (226) is located in the construction site (200).

2. The method as described in the preceding claim, characterized in that, The positioning device (32) assesses, in particular reads, the markings (220) that identify the part of the construction site (210).

3. The method as described in any one of the preceding claims, characterized in that, For coarse positioning, the positioning device (32) evaluates at least one signal originating from outside the construction site portion (210), particularly from outside the construction site (200).

4. The method as described in any one of the preceding claims, characterized in that, For this coarse positioning, the positioning device (32) evaluates at least one natural signal.

5. The method as described in any one of the preceding claims, characterized in that, This natural signal is based on the Earth's magnetic field.

6. The method as described in any one of the preceding claims, characterized in that, This natural signal is based on air pressure.

7. The method as described in any one of the preceding claims, characterized in that, This natural signal is based on light, particularly light originating from space, such as sunlight (217), moonlight, and / or other starlight.

8. The method as described in any one of the preceding claims, characterized in that, The signal is based on the incident direction of the light (230).

9. The method as described in any one of the preceding claims, characterized in that, The positioning device (32) uses GIS data (227) to perform the coarse positioning.

10. A method (1000) for carrying out construction work at a target location (226) of a construction site (200) by means of a construction robot (10), the construction site being, for example, an above-ground construction site (200) or an underground construction site (200). in, The positioning device (32) uses the method (1001) as described in any of the preceding claims to roughly locate the target location (226), in other words, to determine the portion of the construction site (210) in which the target location (226) is located within the construction site (200). The coordinates of the target location (226) are determined relative to the construction site portion (210) or relative to the construction site (200), and The construction robot (10) performs the construction work at the target location (226).

11. The method (1000) as claimed in the preceding claim, wherein, The construction robot (10) selects at least one construction task to be performed from the database.

12. The method (1000) as described in any one of the preceding two claims, characterized in that, The construction robot (10) selects the construction work tasks to be performed based on the part of the construction site (210) determined by the rough positioning.

13. A positioning device (32) for locating a target location (226), the device being configured to perform the method (1000) as claimed in any one of claims 1 to 9.

14. A computer program product (30) configured to perform the method (1000) as described in any one of claims 1 to 9 when executed on a positioning device (32) as described in the preceding claim.

15. A construction robot (10) for performing construction work at a target location (226) on a construction site (200), the construction robot comprising a mobile platform (12), a robot arm (18) having an end effector (20), and a positioning device (32) as claimed in claim 13.

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