Construction site robot and method for operating a construction site robot

Abstract

The invention starts from a construction site robot (10) having an autonomous advancing unit (12), a holding unit (14) for holding at least one processing unit (16), in particular a machining unit (26), a sensor unit (18), and at least one output unit (20) for outputting at least one prompt. It is proposed that the output unit (20) is designed to output the prompt as a function of a danger characteristic variable determined at least by means of the sensor unit (18) and / or a movement characteristic variable determined at least by means of the sensor unit (18).

Description

Background Technology

[0001] A remotely controllable drilling robot has been proposed, which can display a pre-given direction of movement via remote control. Furthermore, it is known that when operating robots, such as industrial robots, omnidirectional warning lights and acoustic signals are used to output constant, and especially immutable, warning signals. Summary of the Invention

[0002] The present invention is a construction site robot comprising: an autonomous forward movement unit; a holding unit for holding at least one processing unit, particularly a machining unit; a sensor unit; and at least one output unit for outputting at least one prompt.

[0003] It is proposed that the output unit is configured to output the warning based on the hazard characteristic parameters obtained at least by means of the sensor unit and / or the motion characteristic parameters obtained at least by means of the sensor unit.

[0004] This construction site robot advantageously improves safety on construction sites, particularly by providing hazard characteristic parameters and / or motion characteristic parameters to the robot's output environment. Specifically, it advantageously prevents collisions between the robot and personnel and / or objects within the output environment. Advantageously, the prompts output by the output unit can be tailored to the situation, making emergency prompts, in particular, more readily understood and relevant to personnel in the output environment. This further enhances safety, especially compared to immutable prompts that personnel in the construction site's output environment may be chronically exposed to, such as the continuous beeping sound during robot operation, which they may habitually ignore. Furthermore, hazardous conditions can be more easily recorded and located, especially when multiple warning signals are generated on the construction site. Advantageously, it allows for the output of imminent hazards based on hazard characteristic parameters and / or, particularly, information about future hazards, based on the prompts.

[0005] This construction site robot is, in particular, a partially autonomous robot for use on construction sites, especially for processing and / or transporting materials. The construction site robot is specifically configured to, at least partially automatically, process objects to be processed, and / or transport and / or align processing units for processing. The construction site robot is preferably configured to process objects to be processed, at least according to a processing plan, and / or transport processing units and / or align the processing units relative to the objects to be processed according to the processing plan. Preferably, the construction site robot is configured to, fully automatically process objects to be processed and / or fully automatically align the processing units relative to the objects to be processed. The forward unit, and preferably the holding unit and / or the processing unit, is preferably configured for automatic alignment. Alternatively, the processing unit and / or the holding unit can be controlled, for example, at least partially by means of remote control (e.g., by a user). The output unit is specifically configured to output prompts to the output environment of the construction site robot, especially to at least one person in the output environment. The output environment is particularly constructed of a number of locations where prompts can be received, and especially recorded by the person. Preferably, each location in the output environment is in line of sight to the output unit and / or positioned within the sound range of the output unit. This output environment is, in particular, part of a construction site. "Construction site" should be understood, in particular, as the location and / or environment in which a construction project is carried out. The construction site may, for example, include the entire structure, especially the entire building, and / or the environment surrounding an object constructed on at least one floor and / or in at least one room and / or processed by at least one processing unit. The construction site can be commercial or private.

[0006] Construction site robots are constructed differently from stationary construction site robots, especially stationary industrial robots. Construction site robots are configured for autonomous, especially independent, movement using a forwarding unit. In particular, construction site robots are constructed as mobile construction site robots. Preferably, construction site robots are configured to be road-accessible. However, alternatively, it is conceivable that construction site robots be constructed as drones or floating transport vehicles. The forwarding unit particularly has a chassis. The forwarding unit, especially the chassis, has, for example, tracked units, roller units, wheel units, propeller units, turbine units, or other forwarding devices or combinations thereof that are meaningful to those skilled in the art. The construction site robot has this forwarding unit, preferably for moving the holding unit and / or handling unit, especially relative to the construction site. The forwarding unit is particularly configured for moving the holding unit and / or handling unit on a base surface, such as the ground, walls, and / or ceiling. Preferably, the forwarding unit is configured for moving the construction site robot as a whole on the base surface. Preferably, the holding unit is arranged at the forwarding unit, preferably on the forwarding unit. The holding unit is preferably fixedly connected to the advancing unit, and in particular, is arranged at least partially above the advancing unit. Preferably, the connection between the holding unit and the advancing unit is located on the upper side of the advancing unit. Preferably, the holding unit is configured to be at least partially movable, especially relative to the advancing unit. Preferably, the holding unit is at least partially movable along a direction parallel to the direction of gravity, especially along a direction at least substantially perpendicular to the advancing direction of the advancing unit. Preferably, the processing unit can be aligned relative to the workpiece by means of the advancing unit and the holding unit, especially in at least at least partially different directions. The holding unit can be configured to be movable only along a direction at least substantially parallel to the direction of gravity. Here, "substantially parallel" should be understood in particular as an orientation of a direction, especially in a plane, relative to a reference direction, wherein the deviation of this direction from the reference direction is particularly less than 8°, advantageously less than 5°, and particularly advantageously less than 2°. The expression "substantially perpendicular" here should particularly define an orientation relative to a reference direction, wherein the direction forms a 90° angle with the reference direction (especially when viewed in the projection plane), and the maximum deviation of this angle is particularly less than 8°, advantageously less than 5°, and particularly advantageously less than 2°. Alternatively or additionally, the holding unit may, for example, be configured to be movable in at least one direction, particularly in at least one direction in a plane that is at least substantially perpendicular to the direction of gravity. Preferably, the holding unit has a bearing surface and / or platform for holding the processing unit. The holding unit is preferably configured as a lifting unit, which is particularly at least partially configured as a lifting platform.Alternatively, the holding unit can be configured as another unit movable relative to the advancing unit in at least one dimension, as would be meaningful to those skilled in the art, for example, configured as (especially as) a robotic arm. Alternatively, it is conceivable that the holding unit can be configured statically, for example, in the form of a static bearing surface and / or platform. The holding unit is preferably fixedly connected and / or capable of being connected to the processing unit of the construction site robot for holding the processing unit. The processing unit is preferably connected to the advancing unit via the holding unit, at least in the holding state. The processing unit can be configured to be at least partially movable relative to the advancing unit, especially connected and / or capable of being connected to the advancing unit via the holding unit, and is, for example, configured to be movable relative to the holding unit. The processing unit may have, for example, a manipulator unit, especially a robotic arm, for movement relative to the holding unit. Preferably, the processing unit is fixed and / or capable of being fixed to the holding unit. Preferably, the holding unit has a fastening unit for securing the processing unit. Alternatively, it is conceivable that the holding unit is only configured for placing the processing unit on the holding unit without further fixing. Here, "holding" should be understood in particular as "connection," preferably "bearing" and / or "fixing."

[0007] Construction site robots may have this processing unit, particularly the machining unit. The processing unit is preferably configured to perform at least one processing on the object to be processed, particularly for machining. Preferably, the object is a building component, such as a wall, floor, facade, or the like. Particularly preferably, the object is a ceiling. In particular, the object can be constructed as a concrete ceiling or a stone ceiling, etc. However, alternatively, it is also conceivable that the object is different from a building component, such as (especially fixed, preferably stationary) furniture, etc. The construction site robot is preferably constructed as a drilling robot. The processing unit, particularly the machining unit, is preferably constructed as a drilling unit. However, alternatively, it is also conceivable that the construction site robot is constructed as a construction site robot different from a drilling robot, such as a sawing robot, a grinding robot, a robot for driving into supports, a painting robot, a spraying robot, a robot for dry plasterboard work (e.g., a caulking robot or a smoothing robot), or the like, or a combination of these robots, or other construction site robots that those skilled in the art would consider meaningful. The processing unit can be configured as a sawing unit, grinding unit, hammering unit, brushing unit, spraying unit, caulking unit, smoothing unit, etc. Preferably, the processing unit has at least one tool unit, which can be configured as an end effector. Preferably, the processing unit has more than one degree of freedom for moving the tool unit, especially relative to the forward and / or holding unit. The tool unit preferably has a tool and / or a handheld machine tool. The construction site robot preferably has sufficient degrees of freedom to freely position and / or orient the tool unit, especially relative to the object to be processed.

[0008] Alternatively, a construction site robot can be configured without a processing unit, and is particularly configured to form a detachable connection with a processing unit for transporting the processing unit and / or performing the processing, particularly the machining, by means of the processing unit. For example, the construction site robot can be configured to connect with different replaceable processing units. Preferably, a holding unit is connected to the processing unit, particularly in a detachable manner, for holding the processing unit. In this context, "detachable" should be understood in particular as "can be separated non-destructively." The processing unit can be fixed to the holding unit, or simply configured to be placed on the holding unit. The holding unit can, in particular, be configured as a carrier unit for carrying the processing unit, particularly different processing units.

[0009] "Characteristic parameter" should be understood in particular as at least one parameter and / or value characterizing another parameter, wherein the hazard characteristic parameter characterizes the hazard risk, and the motion characteristic parameter characterizes the motion of at least a portion of the construction site robot (especially the forward and / or holding units). The motion characteristic parameter is preferably based on the planned and / or current motion speed and / or direction of at least a portion of the construction site robot (especially the forward and / or holding units), which can be obtained, especially by means of sensor units. The motion characteristic parameter can particularly characterize the trajectory of the construction site robot. In this document, "trajectory" should be understood in particular as an executed and / or planned trajectory. Preferably, the planned (especially predicted) motion direction and / or motion speed of the forward and / or holding units can be obtained, and in particular, set, based on the current motion speed and / or motion direction of the forward and / or holding units, and / or the processing plan, and / or the position and / or speed (especially relative to the construction site robot) of personnel and / or objects in the environment. The hazard characteristic parameters preferably characterize the risk of danger, which relates to the risk of collision between personnel and / or objects in the target environment and the construction site robot, and / or the risk of personnel and / or objects maintaining or falling below a safe distance from the construction site robot (especially during the operation of the processing unit). The target environment particularly relates to the environment of the construction site robot, and especially the environment of the sensor unit, which takes this environment into account when calculating the hazard characteristic parameters and / or motion characteristic parameters. Preferably, the target environment is at least part of the output environment. The output unit is particularly configured to output a prompt to at least one person in the target environment, and / or to at least another person in the output environment (e.g., outside or within the target environment), particularly to enable the target person to autonomously ensure safety (especially by means of trajectory changes and / or position changes), and / or to enable the other person to ensure the safety of the target personnel and / or objects in the target environment when responding to the prompt. Advantageously, it is possible to avoid injury to personnel and / or damage to objects in the search environment, and / or damage to the construction site robot, during its movement and / or during operation of the processing unit. Hazardous characteristic parameters characterize at least one hazardous state and at least one safe state, wherein the warning in the hazardous state is specifically configured as a warning, and the warning in the safe state specifically indicates safe operation of the construction site robot. This warning, at least in the safe state, can also contain at least one additional piece of information besides the hazardous characteristic parameters and, in particular, the motion characteristic parameters. This additional information may, for example, characterize the operating status of the processing unit and / or the maintenance status of the construction site robot and / or the processing unit, wherein the maintenance status specifically indicates required intervention, for example by indicating that the dust bag of the construction site robot and / or the processing unit is full, or the like. The hazardous state and the safe state are preferably determined based on the hazardous characteristic parameters.Hazardous characteristic parameters, particularly hazardous and safe states, are preferably determined based on the distances from personnel and / or objects in the environment to the construction site robot. A hazardous state specifically refers to a state where the distance to personnel and / or objects in the environment is less than or equal to at least one distance limit. A safe state specifically refers to a state where the personnel and / or objects are not present in the environment, and / or where the distance between personnel and / or objects in the environment and the construction site robot is greater than the distance limit. The distance limit can be stored as an immutable value. Alternatively, the distance limit can be adjusted based on motion characteristic parameters (particularly the speed and / or trajectory of the forward unit), and / or the speed and / or trajectory of personnel and / or objects, and / or the operating state of the processing unit, particularly with the aid of a control unit. The distance limit can, for example, depend on the configuration of the processing unit (particularly regarding the processing to be performed by the processing unit), and / or on at least one safety regulation and / or safety standard, wherein, for example, the distance limit may differ when the construction site robot is used in different countries. Preferably, the hazard characteristic parameters are based on at least one environmental parameter (especially those relating to the determination of personnel and / or objects in the environment), and / or on the motion characteristic parameters and / or trajectory of the construction site robot (especially the planned and / or current motion speed and / or motion direction of the forward and / or holding units), and / or on the operating status of the processing unit.

[0010] In this context, a "sensor unit" should be understood in particular as a unit configured to record at least one characteristic parameter and / or physical property. The sensor unit preferably has at least one position sensor and / or at least one velocity sensor, thereby allowing the determination of at least one position of the construction site robot on the construction site, and / or the speed and / or trajectory of the construction site robot on the construction site, particularly for determining at least this motion characteristic parameter. The sensor unit is preferably configured to provide at least one measurement value for determining at least one environmental parameter, based on which at least a hazard characteristic parameter and, in particular, a motion characteristic parameter can be determined. This environmental parameter specifically specifies at least one position of a person and / or object in the environment being determined by the construction site robot, and in particular, the distance from the person and / or object to the construction site robot, and / or the trajectory of the person and / or object in the environment being determined. Preferably, the environmental parameter and / or hazard characteristic parameter and / or motion characteristic parameter can be determined based at least on at least one SLAM (Simultaneous Localization and Mapping) algorithm. The sensor unit preferably has at least one camera sensor (e.g., a camera sensor that captures images in the visible spectrum, and / or an infrared camera sensor, and / or a radar camera sensor, especially at least one stereo camera sensor), and / or at least one lidar sensor, and / or at least one ultrasonic sensor, and / or at least one GPS sensor, and / or at least one other sensor that is considered meaningful by those skilled in the art (especially known for obtaining at least one measurement used in the SLAM algorithm). The environment to be obtained may, for example, include at least one field of view of the at least one camera sensor.

[0011] The construction site robot preferably has a control unit for determining (especially calculating) environmental parameters and / or hazard characteristic parameters and / or motion characteristic parameters and / or the position and / or trajectory of the construction site robot based on at least one measurement value measured by a sensor unit. This control unit can apply, in particular, at least one standard algorithm and / or AI algorithm for the determination. For example, the position of a person in the determined environment can be determined using a standard algorithm, and the predicted trajectory of the person can be determined using an AI algorithm. Preferably, the control unit is configured to perform SLAM algorithms, especially for determining environmental parameters and / or hazard characteristic parameters and / or motion characteristic parameters. Distance limits can be stored on the control unit. The control unit is preferably configured to determine prompts based on the measurement values ​​and, in particular, output these prompts using an output unit. These prompts, in particular, can be set and / or changed based on the hazard characteristic parameters and / or motion characteristic parameters. Preferably, the control unit is configured to adjust the prompts according to the hazard characteristic parameters and / or motion characteristic parameters and, in particular, output them using an output unit.

[0012] "Set up" should be understood as specifically programmed, designed and / or equipped. An object set up for a specific function should be understood as the object performing and / or executing that specific function in at least one application and / or runtime state.

[0013] Furthermore, it is proposed that the warning has at least one optical signal, wherein the output unit is configured to output the color and / or pattern of the optical signal according to the hazard characteristic parameters. Advantageously, the warning can characterize the hazard characteristic parameters in a way that is particularly quick to understand and / or widely visible to personnel in the output environment. In particular, changing the warning according to the hazard characteristic parameters is advantageous and easy to understand and / or quick to understand. Preferably, the control unit is configured to adjust the color and / or pattern of the optical signal according to the hazard characteristic parameters and output it by means of the output unit. The pattern and / or color can be set according to the hazard characteristic parameters. When adjusting the color of the optical signal, adjustments to hue and / or color saturation or the like are particularly conceivable. The output unit preferably has at least one display unit, which in particular has at least one display and / or at least one light-emitting element, such as a lamp and / or a small light, for outputting the optical signal. The output unit, especially the display unit, can, for example, have an omnidirectional warning light, which is particularly capable of outputting a variable optical signal. The display unit is preferably arranged on each side of the construction site robot (especially on at least each side extending at least substantially parallel to the direction of gravity), especially for omnidirectional output to the output environment around the construction site robot. Advantageously, the cue (especially optical signals) is visible in all directions around the construction site robot (especially in a plane at least substantially perpendicular to the direction of gravity), thereby improving safety. The display unit is preferably arranged on the forward and / or holding units, especially in and / or on the housing of the forward and / or holding units, and / or mounted on the processing unit. The output unit, especially the display unit, is preferably configured to display the optical signals on the construction site robot (especially directly at the display unit). Alternatively or additionally, the output unit (especially the display unit) is conceivable for projecting the optical signals onto the environment of the construction site robot, for example onto the ground and / or ceiling around the construction site robot, and / or onto the outer surface of the construction site robot. Preferably, the output unit (especially at least the display unit) is encapsulated, preferably for use of the construction site robot underwater and / or in areas with explosion hazards. The output unit (especially at least the display unit) is preferably housed in a waterproof and / or explosion-proof (especially transparent) housing. The pattern may include text and / or at least one shape and / or at least one symbol and / or at least one pictogram. The output unit may be configured to output the intensity and / or brightness of the optical signal according to hazard characteristic parameters. Preferably, the control unit is configured to adjust the intensity and / or brightness of the optical signal according to the hazard characteristic parameters and output it via the output unit. Preferably, the intensity and / or brightness of the optical signal in a hazardous state is increased compared to the intensity and / or brightness of the optical signal in a safe state.

[0014] The pattern of the optical signal is preferably adjustable to a warning pattern in hazardous conditions, particularly having warning symbols and / or warning text and / or shape designs known to those skilled in the art for warning purposes, such as stop sign shapes. Furthermore, it is proposed that the output unit be configured to adjust at least one color of the optical signal to a warning color based on the hazardous condition (especially the one described above) derived by means of hazardous characteristic parameters. Advantageously, the warning can characterize the hazardous characteristic parameters in a way that is particularly memorable and especially intuitive for environmental personnel. In particular, the warning can have a culturally and linguistically independent and easily understood warning signal encoding. The warning color should be understood in particular as a signal color that is conspicuous to humans, especially with hues of red, orange, or yellow. The warning color can have a higher saturation compared to the color of the optical signal in a safe condition. For example, the output unit can be configured to increase at least a portion of the saturation of the color output by the output unit in a hazardous condition. Preferably, the output unit is also configured to output the optical signal in a safe condition, wherein the optical signal in a safe condition has a color different from the warning color, such as white and / or green and / or blue, and / or other warm or cool neutral colors that are meaningful to those skilled in the art. Alternatively, it is conceivable that the output unit is configured only to output optical signals in dangerous situations.

[0015] A hazardous state may only have adjustments to the cue relative to a safe state, such as adjusting only the pattern and / or color of the optical signal. Alternatively, a hazardous state may have multiple cue adjustments, each assigned to a hazardous sub-state. Preferably, a hazardous state has more than one hazardous sub-state, each corresponding to at least one different cue and, in particular, different distance limit values. Preferably, hazardous feature parameters characterize each hazardous sub-state. For example, a hazardous state may have a near-range hazardous sub-state, a mid-range hazardous sub-state, and / or a peripheral hazardous sub-state, wherein the values ​​of the respective distance limit values ​​decrease sequentially from the peripheral hazardous sub-state to the mid-range hazardous sub-state and then to the near-range hazardous sub-state. In particular, the object and / or person is located in the peripheral area of ​​the seeking environment in the peripheral hazardous sub-state, in the near-range hazardous sub-state, and in the middle area of ​​the seeking environment (especially positioned between the peripheral and near areas) in the mid-range hazardous sub-state, all relative to the construction site robot. Warning colors may have different colors and / or warning colors in different hazardous sub-states. For example, the color of an optical signal can have a traffic light coloring effect based on hazard characteristic parameters, where the warning color can be yellow and / or orange, especially in the mid-range hazard sub-state, and red, especially in the short-range hazard sub-state.

[0016] Furthermore, it is proposed that the prompt has at least one acoustic signal, wherein the output unit is configured to output the acoustic signal only under hazardous conditions determined based on (especially the above-mentioned) hazardous characteristic parameters. Advantageously, it is possible to avoid desensitization of acoustic signals (especially warning signals) to personnel in the output environment due to continuous output of acoustic signals during the operation of the construction site robot. In particular, it is possible to clearly indicate hazardous conditions. Furthermore, if the acoustic signal is output only under hazardous conditions, it is advantageous to reduce the noise level of the construction site (especially in the output environment). Advantageously, it is possible to locate the approaching construction site robot with particular reliability, wherein the acoustic signal sounds when the construction site robot approaches personnel and / or objects, which is particularly noticeable than the practice of a constant output acoustic signal becoming louder only due to approach. In addition, the acoustic signal provides prompts according to another perceptual mode, so that prompts can be output to personnel in the output environment even in the absence of visual contact with the construction site robot, especially with the display unit. Preferably, the output unit (especially the control unit via the output unit) is configured to output an acoustic signal only in hazardous sub-states having a minimum distance limit (especially only in near-hazard sub-states). Advantageously, near-hazard sub-states can be clearly indicated by means of acoustic signals. The acoustic signal is preferably immutable. Alternatively, it is conceivable that the output unit is configured to output an acoustic signal in multiple hazardous sub-states (especially throughout the entire hazardous state). This acoustic signal can be adjustable and is configured to be different, especially in different hazardous sub-states. Preferably, the output unit is configured to output an acoustic signal characterizing a hazard characteristic parameter (especially a hazardous state) only in hazardous states, wherein another acoustic signal characterizing a motion characteristic parameter can also be output, for example, in safe states. This acoustic signal is preferably a signal specifically related only to the hazard characteristic parameter, wherein the indication may have another acoustic signal specifically related only to the motion characteristic parameter.

[0017] Alternatively, it is conceivable that acoustic signals are also output under safe conditions, wherein the acoustic signals are constructed differently under safe and dangerous conditions.

[0018] Furthermore, it is proposed that the output unit is configured to output the warning at an output frequency that depends on the hazard characteristic parameter. Advantageously, through this warning, personnel in the output environment can understand the hazardous situation particularly intuitively and / or quickly. This output frequency is particularly the frequency of the repeated output warning (especially optical and / or acoustic signals). This output frequency is particularly the frequency of the intensity pulsation of the optical and / or acoustic signals. Preferably, the output frequency is the frequency of the optical signal (especially the flashing and / or pulsation of the optical signal) and / or the acoustic signal (especially the beeping of the acoustic signal). Preferably, the output unit is configured to increase the output frequency in hazardous conditions (especially relative to the output frequency in safe conditions). Preferably, the output unit is configured to increase the output frequency relative to the output frequency of another hazardous sub-state, for hazardous sub-states that have a smaller distance limit relative to the distance limit of that other hazardous sub-state. Preferably, the output unit is configured to increase the output frequency (especially at an output frequency that can be continuously or discretely adjusted with respect to the determined distance) for smaller determined distances to personnel and / or objects in the environment. The output frequency may have a standard-compliant value under hazardous and / or safe conditions, such as conforming to standard DIN EN 842:2009-01 "Safety of Machinery," where, for example, a frequency of 2 Hz to 3 Hz is recommended for hazardous conditions. However, other output frequency values ​​that are deemed meaningful by those skilled in the art are also conceivable.

[0019] Furthermore, it is proposed that the construction site robot has a control unit (especially the one described above), wherein the control unit is configured to adjust control parameters for controlling the forward and / or holding units according to hazard characteristic parameters. This can particularly advantageously improve safety. Preferably, the control unit is configured to adjust the control parameters according to hazard characteristic parameters for emergency stopping and / or for throttling (especially braking), and / or for acceleration (especially the forward and / or holding units). The control unit is particularly configured to adjust the control parameters, especially for emergency stopping, in emergency situations (where the distance from personnel and / or objects in the environment to the construction site robot is less than the emergency distance limit, and / or where the predicted trajectory of the construction site robot and personnel and / or objects in the environment predicts a collision after a time window, which is particularly short than the typical reaction speed of personnel). The emergency distance limit is preferably less than the distance limit for the hazard state, and preferably less than or equal to the distance limit for the near-distance hazard sub-state.

[0020] Furthermore, it is proposed that the prompts provide information regarding the planned and / or current movements of the forward and / or holding units. This information is particularly based on motion characteristic parameters. This advantageously improves safety, especially by indicating the movement direction of the construction site robot to personnel in the search environment, enabling them to advantageously avoid collisions with the construction site robot and / or prevent collisions with other personnel and / or objects in the search environment. The output unit is preferably configured to output the movement direction and / or speed of the forward and / or holding units. Preferably, the information regarding movement is based on motion characteristic parameters. Preferably, the prompts (especially information) regarding movement are different when the construction site robot (especially the forward and / or holding units) is stationary compared to when it is in motion. Preferably, the prompts (especially information) regarding movement are different when maintaining a constant direction of movement (especially when the forward unit is traveling in a straight line) compared to when changing the direction of movement (especially when the forward unit is turning). Preferably, the prompts, especially information about movement, differ during upward movement (especially raising the holding unit) from those during downward movement (especially lowering the holding unit). The prompts preferably characterize the straight-line travel and / or turning and / or stationary movement of the forward unit, and / or the raising and / or lowering and / or stationary movement of the holding unit. Planned movement preferably refers to the movement performed within a time interval of up to 30 seconds, preferably up to 20 seconds, particularly preferably up to 15 seconds, advantageously 10 seconds, and particularly preferably up to 5 seconds after being output on the output unit. For example, the prompts may characterize the current movement, wherein the output unit is configured to adaptively output prompts according to changes in planned movement before changing the movement, such as before the construction site robot starts and / or turns and / or brakes. Alternatively, it is conceivable that the prompt simultaneously represents both the current motion and the planned motion, for example, using two different display units, one for outputting the current motion and the other for outputting the planned motion; and / or using an optical signal to output the current motion and an additional acoustic signal to output the planned motion (especially a change in the planned motion, such as emitting a double beep before the change). Alternatively, it is conceivable that at the same point in time, only the current motion or only the planned motion can be output separately.

[0021] Furthermore, it is proposed that the construction site robot has at least a processing unit and, in particular, the aforementioned control unit, wherein the control unit is configured to adjust control parameters for controlling the processing unit based on hazardous characteristic parameters. This advantageously improves safety, particularly by reducing the risk of personnel injury and / or damage to the processing unit in the processing unit environment. The control unit can be specifically configured to adjust the control parameters to perform emergency stopping and / or throttling of the processing unit based on hazardous characteristic parameters, especially in hazardous conditions (e.g., emergency situations).

[0022] Furthermore, it is proposed that the output unit has a running light unit and / or a matrix light unit, particularly for outputting motion characteristic parameters. Preferably, the motion of the construction site robot can be advantageously displayed, thereby improving safety in particular. The running light unit and / or matrix light unit is preferably configured to output the direction and / or speed of motion of the forward and / or holding units. The display unit preferably has the running light unit and / or matrix light unit. The running light unit and / or matrix light unit particularly has multiple light-emitting elements that can be independently controlled, preferably LED light-emitting elements. LED light-emitting elements are particularly multi-colored and cost-effective, and particularly allow for very flexible construction of the running light unit and / or matrix unit in any size. The running light unit and / or matrix light unit preferably has at least one light-emitting element strip, particularly an LED strip. It is conceivable that the running light unit and / or matrix light unit has at least one display. The running light unit is preferably configured to display at least one direction (especially one-dimensional directions respectively). The matrix unit is preferably constructed as a 2D matrix, particularly an LED-2D matrix. Preferably, the output unit is configured to output a running light to indicate the direction of movement of the forward and / or holding units. The speed of the running light preferably characterizes the speed of movement of the forward and / or holding units. The running light unit and / or matrix light unit may be configured to output hazard characteristic parameters, for example, by means of the output frequency (especially the flashing frequency) and / or the color of the running light. Alternatively or additionally, the display unit of the output unit may have at least one additional light unit (especially different from the running light unit and / or matrix light unit) configured to output hazard characteristic parameters (e.g., by means of a pattern of optical signals).

[0023] Furthermore, a method is proposed for operating a construction site robot (especially as described above) with an autonomous forwarding unit, wherein at least one output unit of the construction site robot outputs a prompt (especially as described above), wherein the prompt is output by means of at least one output unit of the construction site robot based on hazard characteristic parameters and / or motion characteristic parameters obtained by at least one sensor unit (especially as described above). This advantageously improves safety, particularly during the forwarding of the forwarding unit and / or during the operation of the processing unit.

[0024] The method preferably includes a method step, particularly a measurement step, in which at least one measurement value of the sensor unit is measured. In another method step (particularly a determination step, which occurs particularly after the measurement step), it is preferred to determine hazard characteristic parameters and / or motion characteristic parameters. Preferably, in the determination step, at least one distance and / or trajectory of personnel and / or objects (particularly relative to the construction site robot) is determined in the determination environment (particularly as described above). Alternatively or additionally, the direction of motion and / or speed of the construction site robot (particularly the forward unit), and / or the operating state of the processing unit (particularly as described above) can be determined in the determination step. In the determination step, the hazard characteristic parameters and / or motion characteristic parameters are preferably determined (particularly by means of the control unit), particularly based on the at least one measurement value, and particularly based on the distance and / or trajectory of personnel and / or objects, and / or based on the speed and / or trajectory of the construction site robot. In the determination step, to determine the hazard characteristic parameters, it is preferable to compare at least one (especially the above-mentioned) stored distance limit value with at least one determined distance. It is preferable to generate and / or adjust the prompt in the determination step. Preferably, the method has at least one additional method step (especially an output step) in which the prompt is output by means of an output unit.

[0025] Construction site robots and methods for operating construction site robots should not be limited to the applications and implementations described above. In particular, to achieve the functional modes described herein, construction site robots and methods for operating construction site robots may have a number different from the number of individual elements, components, units, and method steps mentioned herein. Furthermore, values ​​within the numerical ranges given in this disclosure should also be considered disclosed and freely usable. Attached Figure Description

[0026] Further advantages will become apparent from the following description of the accompanying drawings, which illustrate embodiments of the invention. Numerous features are included in combination throughout the drawings, description, and claims. Those skilled in the art may also contemplate these features individually and combine them into other meaningful combinations.

[0027] The attached diagram shows: Figure 1 A schematic diagram of a construction site robot with an output unit. Figure 2 A schematic diagram of a portion of the output unit's running lamp unit, and Figure 3 A flowchart of a method for operating a construction site robot. Detailed Implementation

[0028] Figure 1 A partially automated construction site robot 10 with an autonomous forwarding unit 12 is shown. The construction site robot 10 is configured for use on a construction site (not shown). The forwarding unit 12 is configured to enable the construction site robot 10 to move forward on the construction site, particularly relative to an object to be processed (not shown) on the construction site.

[0029] The forward unit 12 is configured to be road-ready, but alternatively, the construction site robot 10 could be configured as a drone or a floating transport vehicle. The forward unit 12 has a chassis 60. Here, the chassis 60 is configured as a tracked unit.

[0030] The construction site robot 10 has a holding unit 14. The holding unit 14 is fastened to the forward unit 12. The holding unit 14 is configured to be at least partially movable relative to the forward unit 12. The holding unit 14 has at least one platform 56.

[0031] The holding unit 14 is configured here as a lifting unit 54, wherein the platform 56 of the lifting unit 54 is movable relative to the advancing unit 12, in particular capable of vertical movement. The holding unit 14 has a lifting shaft element 58, which is configured for moving the platform 56. The platform 56 is movable along the lifting shaft element 58.

[0032] Alternatively, the holding unit 14 may be configured as other movable or static units relative to the advancing unit 12 that would be meaningful to those skilled in the art.

[0033] The holding unit 14 is configured to hold at least one processing unit 16. The platform 56 is configured to hold the processing unit 16. The processing unit 16 is connected to the advancing unit 12 via the holding unit 14. The processing unit 16 is movable relative to the advancing unit 12, at least by means of the holding unit 14. The processing unit 16 is fixed to the holding unit 14, at least in the assembled state.

[0034] The processing unit 16 is configured as a processing unit 26. The processing unit 16 is configured to process the object to be processed. The forward unit 12 is configured to transport the holding unit 14 and the processing unit 16 and align them relative to the object to be processed. The holding unit 14 is configured to align the processing unit 16 relative to the object to be processed.

[0035] Figure 1 An exemplary configuration of processing unit 16 is shown. Processing unit 16 is configured to be at least partially movable, particularly movable relative to holding unit 14. Processing unit 16 includes a manipulator unit 50. Manipulator unit 50 is exemplary configured as a robotic arm. Processing unit 16 includes a tool unit 52 that contacts an object to be processed. Tool unit 52 is alignable by means of manipulator unit 50. Processing unit 16 is configured as a drilling unit for creating drill holes (not shown) in the object to be processed. The object to be processed can be exemplary configured as a building component, such as a ceiling, wall, floor, facade, or the like.

[0036] Alternatively, configurations of the processing unit 16 that are of interest to those skilled in the art may be conceived, such as those without the manipulator unit 50, or with different configurations of the manipulator unit 50 and / or tool unit 52, particularly configurations for different processing purposes, such as for sawing, grinding, inserting into supports, or brushing.

[0037] The construction site robot 10 has a processing unit 16. The construction site robot 10 is configured to process the object to be processed at least partially automatically (especially fully automatically).

[0038] Alternatively, the construction site robot 10 may be configured without the processing unit 16, and is particularly configured to form a detachable connection with the processing unit 16 for transporting the processing unit 16 and / or performing processing by means of the processing unit 16. For example, the construction site robot 10 may be configured to connect with different replaceable processing units 16.

[0039] Construction site robot 10 has at least one output unit 20 for outputting at least one prompt. Construction site robot 10 has a sensor unit 18. The output unit 20 is configured to output the prompt based on hazard characteristic parameters and / or motion characteristic parameters obtained at least by means of the sensor unit 18. The output unit 20 is configured to output the prompt to an output environment (not shown) surrounding the construction site robot 10. The prompt may be adjusted based on the hazard characteristic parameters and / or motion characteristic parameters.

[0040] Sensor unit 18 is configured to provide at least one measurement value for determining at least one environmental parameter, based on which at least one hazard characteristic parameter can be determined. This environmental parameter specifies at least the position of at least one person (not shown) and / or at least one object (not shown) relative to the construction site robot 10 in the determined environment surrounding the construction site robot 10. The environmental parameter also specifies at least the distance of the person and / or the object to the construction site robot 10, and / or the executed trajectory and / or predicted trajectory (not shown) of the person and / or the object in the determined environment.

[0041] The sensor unit 18 here includes at least one camera sensor 28, particularly a stereo camera sensor, and at least one lidar sensor 48. The camera sensor 28 and / or lidar sensor 48 are at least configured to determine the environmental parameters (particularly hazard characteristic parameters), and / or to determine the motion speed and / or motion direction (particularly motion characteristic parameters) of the construction site robot 10. The camera sensor 28 is fixed to the platform 56. The lidar sensor 48 is fixed to the platform 56. Alternatively, other arrangements of the camera sensor 28 and / or lidar sensor 48 on the construction site robot 10 are conceivable. The sensor unit 18 has at least one additional camera sensor (not shown) and at least one additional lidar sensor 48 (not shown) for omnidirectional recording around the construction site robot 10 by means of the sensor unit 18. Alternatively, the sensor unit 18 may have only at least one lidar sensor or at least one camera sensor 28. Alternatively or additionally, the sensor unit 18 may have other sensors that are considered meaningful by those skilled in the art, such as ultrasonic sensors and / or the like.

[0042] Motion characteristic parameters characterize the current or planned motion of the forward unit 12 and / or the holding unit 14. These motion characteristic parameters can be derived based on the motion speed and / or trajectory of the construction site robot 10.

[0043] The hazard characteristic parameter preferably characterizes the hazard arising from personnel and / or objects in the environment being assessed being below a distance limit (not shown). This distance limit is specifically configured as a safety distance. This distance limit may be configured to be constant, or (especially depending on the operating state of the processing unit 16 and / or environmental parameters and / or motion characteristic parameters) configured to be variable. The hazard characteristic parameter is based at least on the environmental parameters and / or motion characteristic parameters and / or the operating state of the processing unit 16.

[0044] The hazard characteristic parameter characterizes at least one hazardous state and one safe state. In the hazardous state, the distance (not shown) between personnel and / or objects in the environment and the construction site robot 10 is less than or equal to a distance limit value. In the safe state, the distance (not shown) between personnel and / or objects in the environment and the construction site robot 10 is greater than the distance limit value.

[0045] The construction site robot 10 has a control unit 22. The control unit 22 is configured to control the forward movement unit 12. The control unit 22 is configured to control the holding unit 14. The control unit 22 can also be configured to control the processing unit 16.

[0046] Control unit 22 is configured to determine hazard characteristic parameters and / or motion characteristic parameters based on at least one measurement obtained by means of sensor unit 18. Control unit 22 is configured to determine environmental parameters and / or motion speed and / or the trajectory of construction site robot 10 based on at least one measurement obtained by means of sensor unit 18, particularly by means of at least one SLAM algorithm. Alternatively or additionally, other algorithms that are deemed meaningful by those skilled in the art may also be used to determine hazard characteristic parameters and / or motion characteristic parameters.

[0047] Control unit 22 is configured to adjust the prompt based on the measured value. Control unit 22 is configured to output the prompt via output unit 20.

[0048] The warning has at least one optical signal, wherein the output unit 20 is configured to output the color of the optical signal according to hazard characteristic parameters. The control unit 22 is configured to adjust the color of at least the optical signal according to the hazard characteristic parameters. The color can be adjusted according to the hazard characteristic parameters.

[0049] Output unit 20 is configured to adjust at least one color of an optical signal to a warning color based on a hazardous state determined by means of hazardous characteristic parameters. Output unit 20 is also configured to adjust at least one color of the optical signal to a warning color under the determined hazardous state. Output unit 20 is also configured to output the optical signal under a safe state. The optical signal has a color different from the warning color under the safe state. Alternatively, it is conceivable that output unit 20 is configured only to output the optical signal under hazardous states.

[0050] The output unit 20 has a display unit 30 for outputting optical signals. The display unit 30 is arranged on the holding unit 14, particularly on the platform 56 and the lifting shaft element 58. Alternatively or additionally, the display unit 30 may be arranged at least partially on the forward unit 12 and / or the processing unit 16.

[0051] The output unit 20, and especially the display unit 30, has at least one light-emitting element 38. The output unit 20, and especially the display unit 30, has more than one light-emitting element 38, of which only one light-emitting element 38 is shown.

[0052] Output unit 20 can be configured to output an optical signal pattern 24 according to hazard characteristic parameters. Control unit 22 can be configured to adjust at least the optical signal pattern 24 according to hazard characteristic parameters. Pattern 24 can be adjusted according to hazard characteristic parameters. Pattern 24 is pre-defined by the number of simultaneously lit light-emitting elements 38 (see...). Figure 2 ).

[0053] Output unit 20 can be configured to output patterns 24 of different colors and / or optical signals in hazardous conditions. Control unit 22 can distinguish between different hazardous sub-states that have their own individual distance limits. Control unit 22 is capable of adjusting the color and / or pattern 24 of the optical signals used for different hazardous sub-states. Output unit 20 is configured to output a warning color at least in hazardous sub-states with minimum distance limits.

[0054] The warning has at least one acoustic signal, wherein the output unit 20 is configured to output the acoustic signal only under hazardous conditions determined based on hazardous characteristic parameters. The output unit 20 is configured only to output the acoustic signal under hazardous conditions. The control unit 22 is configured to output the acoustic signal only under hazardous conditions via the output unit 20. The output unit 20 has at least one speaker 40 for outputting the acoustic signal.

[0055] The output unit 20 can be configured to output an acoustic signal only in one dangerous sub-state or in two dangerous sub-states. The output unit 20 is configured to output the acoustic signal at least in the dangerous sub-state with the minimum distance limit value.

[0056] The acoustic signal is immutable. Alternatively, it can be conceivable that the acoustic signal is adjustable and, in particular, constructed differently for different hazardous substates.

[0057] Alternatively, it is conceivable that acoustic signals are also output under safe conditions, wherein the acoustic signals are constructed differently under safe and dangerous conditions.

[0058] The output unit 20 is configured to output a warning at a frequency that depends on the output frequency of the hazard characteristic parameter. The output unit 20 is also configured to output at least the optical signal at a frequency that depends on the output frequency of the hazard characteristic parameter.

[0059] Alternatively or additionally, the output unit 20 may be configured to output an acoustic signal at an output frequency that depends on the hazardous characteristic parameter. The output frequency refers to the intensity of the optical and / or acoustic signal pulsation.

[0060] The output unit 20 is configured to increase the output frequency in a dangerous state compared to the output frequency used to indicate a safe state. The output unit 20 is also configured to increase the output frequency of a dangerous sub-state that has a smaller distance limit value relative to the distance limit value of another dangerous sub-state, compared to the output frequency of that other dangerous sub-state.

[0061] The control unit 22 is configured to adjust the control parameters used to control the forward unit 12 and / or the holding unit 14 according to the hazardous characteristic parameters. The control unit 22 is also configured to perform an emergency stop or throttling on the forward unit 12 and / or the holding unit 14 when the distance from a person and / or object in the environment to the construction site robot 10 is less than the emergency distance limit value.

[0062] The prompt contains information about the planned movement and / or current movement 46 of the forward unit 12 (see...). Figure 2 The system displays information about the planned and / or current (not shown) motion of the holding unit 14. When the forward unit 12 and / or the holding unit 14 are in a state of uniform motion, the system displays information about the current motion 46. Before changing the motion state of the forward unit 12 and / or the holding unit 14, the system displays information about the planned motion 46 (especially the planned change in motion). This information is based on motion characteristic parameters.

[0063] The control unit 22 is configured to adjust the control parameters for controlling the processing unit 16 according to the hazardous characteristic parameters. The control unit 22 is also configured to perform an emergency stop or throttling of the processing unit 16 when the distance from a person and / or object in the environment to the construction site robot 10 is less than the emergency distance limit value.

[0064] Figure 2A portion of the display unit 30 is magnified in the motion state of the forward unit 12. The output unit 20 has a running light unit 32, specifically for outputting motion characteristic parameters. The display unit 30 is configured as the running light unit 32. The running light unit 32 is configured to output the motion 46 of the forward unit 12 by means of running lights 42, specifically the direction of motion and / or the speed of motion. At least one running light direction 44 of the running lights 42 of the running light unit 32 corresponds to the direction of the motion 46 of the forward unit 12.

[0065] The running light unit 32 is configured to output the motion of the holding unit 14 by means of a running light (not shown), especially the direction of motion and / or the speed of motion (see...). Figure 1 ).

[0066] The running light unit 32 is at least partially arranged on the platform 56 for displaying the direction and / or speed of movement of the forward unit 12 (see...). Figure 1 The running light unit 32 is at least partially arranged on the lifting shaft element 58 to indicate the direction and / or speed of movement of the holding unit 14 (see...). Figure 1 Alternatively, other ways of arranging the running light unit 32 on the construction site robot 10 may be contemplated by those skilled in the art.

[0067] The running light unit 32 has a light-emitting element 38. The light-emitting elements 38 can be independently controlled to generate the running light 42. Here, the light-emitting elements 38 are configured as LED light-emitting elements.

[0068] The running light unit 32 has at least one LED strip 34, 36 composed of light-emitting elements 38 (see Figure 1 The running light unit 32 has at least one LED strip 34 for displaying the movement 46 of the forward unit 12. The running light unit 32 has at least one LED strip 36 for displaying the movement of the holding unit 14 (see...). Figure 1 ).

[0069] The running light unit 32 is configured here to output hazard characteristic parameters, in particular by means of the output frequency and color of the running light 42, and exemplary by means of the pattern 24 of the running light 42. Alternatively or additionally, the display unit 30 may have at least one additional light unit (not shown) (in particular a light unit different from the running light unit 32) configured to output the hazard characteristic parameters.

[0070] Alternatively, the running lamp unit 32 can also be constructed as a matrix lamp unit (not shown), especially an LED-2D matrix.

[0071] Figure 3A flowchart of a method for operating a construction site robot 10 is shown, wherein the prompt is output by means of an output unit 20 based on hazard characteristic parameters and / or motion characteristic parameters.

[0072] The method has a measurement step 100 in which at least one measurement value of sensor unit 18 is measured.

[0073] In step 102 of the method, hazard characteristic parameters and / or motion characteristic parameters are obtained. In step 102, at least the distance from personnel and / or objects in the search environment to the construction site robot 10 is obtained. In step 102, the hazard characteristic parameters and / or motion characteristic parameters are obtained, particularly based on the at least one measured value and / or distance, using the control unit 22. A prompt is generated in step 102.

[0074] The method has an output step 104, in which the prompt is output by means of output unit 20.

Claims

1. A construction site robot (10) comprising: an autonomous forward movement unit (12); a holding unit (14) for holding at least one processing unit (16), particularly a machining unit (26); a sensor unit (18); and at least one output unit (20) for outputting at least one prompt; characterized in that, The output unit (20) is configured to output the warning based on the danger feature parameters obtained at least by means of the sensor unit (18) and / or the motion feature parameters obtained at least by means of the sensor unit (18).

2. The construction site robot (10) according to claim 1, characterized in that, The warning has at least one optical signal, wherein the output unit (20) is configured to output the color and / or pattern (24) of the optical signal according to the hazard feature parameter.

3. The construction site robot (10) according to claim 2, characterized in that, The output unit (20) is configured to adjust at least one color of the optical signal to a warning color based on the dangerous state obtained by means of the dangerous feature parameter.

4. The construction site robot (10) according to any one of the preceding claims, characterized in that, The prompt has at least one acoustic signal, wherein the output unit (20) is configured to output the acoustic signal only under dangerous conditions determined based on the dangerous feature parameters.

5. The construction site robot (10) according to any one of the preceding claims, characterized in that, The output unit (20) is configured to output the warning at an output frequency that depends on the hazard characteristic parameter.

6. The construction site robot (10) according to any one of the preceding claims, characterized in that... Control unit (22), the control unit is configured to adjust control parameters for controlling the forward unit (12) and / or the holding unit (14) according to the hazard characteristic parameters.

7. The construction site robot (10) according to any one of the preceding claims, characterized in that, The prompt contains information about the planned movement and / or current movement (46) of the forward unit (12) and / or the holding unit (14).

8. The construction site robot (10) according to any one of the preceding claims, characterized in that... At least the processing unit (16) and the control unit (22), wherein the control unit (22) is configured to adjust the control parameters for controlling the processing unit (16) according to the hazard characteristic parameters.

9. The construction site robot (10) according to any one of the preceding claims, characterized in that, The output unit (20) has a running light unit (32) and / or a matrix light unit, especially for outputting the motion characteristic parameters.

10. A method for operating a construction site robot (10) having an autonomous forwarding unit (12), particularly according to any one of the preceding claims, wherein, The construction site robot (10) outputs a prompt by means of at least one output unit (20), characterized in that the prompt is output by means of the output unit (20) based on the hazard characteristic parameters obtained by means of at least the sensor unit (18) and / or the motion characteristic parameters obtained by means of at least the sensor unit (18).

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