Mounting device and method for automated drilling of holes in building walls with automated detection of wear marks on the drill bit

Description

[0001] The invention relates to an assembly device according to the preamble of claim 1 and a method having the features of claim 12.

[0002] WO 2016 / 066615 A2 describes an assembly device with a drilling robot that can automatically drill holes in the walls and ceilings of a building. The assembly device has a carriage with driven and steerable wheels on which the drilling robot is mounted. This allows the assembly device to be moved within the building and positioned at the required position for drilling the holes.

[0003] WO 2017 / 016783 A1 describes an automated assembly device for carrying out installations in an elevator shaft of an elevator system. The assembly device has a drilling device with a drill bit that can automatically drill holes in the walls of the elevator shaft. A support component of the assembly device that carries the drilling device can be relocated within the elevator shaft. WO 2017 / 016783 A1 describes that, to detect a worn or defective drill bit, a feed rate during drilling and / or the time required to drill a hole to a desired depth are monitored. If a feed rate limit is undershot and / or a time limit is exceeded, the drill bit used is identified as no longer in good condition.

[0004] A drill bit can have various defects that can negatively impact the drilling of holes in a building's walls. For example, the drill bit's diameter may no longer be large enough, resulting in a hole that is too small. Drill bits for drilling in concrete often have a so-called crown made of a particularly durable material, particularly carbide. If parts of the crown have broken off or the crown has become completely loose, drilling a hole will also be negatively impacted.

[0005] US 4561776 A, WO 2014 / 132845 A1, EP 3318837 A1, and US 4420253 A describe machine tools for drilling holes in workpieces, in which the condition of the drill is assessed based on a digital image of the drill. In US 4420253 A, color information is also evaluated.

[0006] In contrast, the object of the invention is, in particular, to propose a mounting device and a method that enable reliable drilling of holes in the walls of a building. According to the invention, this object is achieved by a mounting device having the features of claim 1 and a method having the features of claim 12.

[0007] The inventive assembly device for the automated drilling of holes in building walls comprises a drilling device with a drill bit. According to the invention, the assembly device has an optical detection device for capturing a digital image of at least part of the drill bit of the drilling device and a control device for controlling the drilling device and the optical detection device. The control device is designed to evaluate said digital image and thereby assess the condition of the drill bit.

[0008] According to the invention, said digital image contains information about the color of the drill bit. The control device is provided to check the color of the drill bit and to assess the condition of the drill bit based on the results of said check of the color of the drill bit. From the color of the drill bit, it can be deduced, in particular, whether the drill bit became very hot during a previous drilling operation. If it becomes very hot, the drill bit turns blue, which can be detected by the control device. Excessive heating or overheating can lead to internal stresses building up in the drill bit and / or the material of the drill bit becoming brittle. Both effects can cause parts of the drill bit to break off or the drill bit to break apart. Excessive heating or overheating can have a further negative effect on drill bits with a soldered crown.The heating can be so great that the solder used to solder the crown melts or at least becomes soft. This leads to a very high risk of the crown breaking off. The crown may then still be correctly positioned on the tip of the drill, but may detach from the tip the next time it is subjected to heavy stress, rendering the drill unusable. The effects mentioned can occur individually or reinforce one another. In summary, strong heating or overheating leads to an increased risk or probability that a drill will fail shortly with continued use. The control device is therefore designed in such a way that if a color typical of overheating of the drill is detected in the digital image, it classifies the condition of the drill as not OK.

[0009] The control device is designed to evaluate the color in the area of ​​the drill bit tip. It can, in particular, perform preprocessing to identify contiguous areas of the drill bit with similar colors. This can be done, for example, using a so-called blob analysis. A color can then only be considered, for example, if it occurs on a contiguous surface or on an overall surface with a minimum surface area.

[0010] When checking the color of the drill bit, the color can be compared to stored reference colors. For example, if the color matches a reference color, the drill bit's condition can be classified as not OK.

[0011] According to the invention, the control device is designed to determine a blue component of the color of the drill bit and to assess the condition of the drill bit based on the said blue component. Drill bits, in particular, turn blue when heated to very high temperatures. Thus, a blue color of the drill bit is a reliable indication of strong, possibly excessive, heating of the drill bit. As described above, strong heating can lead to damage to the drill bit that is not visible from the outside. Thus, by testing the blue component of the drill bit, the condition of the drill bit can be assessed particularly reliably. The condition of the drill bit is classified as not OK in particular if the blue component exceeds a specified threshold.

[0012] Based on the theory of additive color mixing, a color can be separated into the three primary colors red, green, and blue. A color can thus be defined by the intensity of the components of each primary color. The blue component of the drill bit's color referred to here refers to the proportion of the blue primary color in the drill bit's color. If only the blue component of the drill bit's color is to be used to assess the condition of the drill bit, the optical detection device can, in particular, comprise only light sensors that can detect blue light or be designed as a black-and-white digital camera with a filter that only transmits blue light.

[0013] In the inventive method for assessing the condition of a drill bit of a drilling device of an assembly device for the automated drilling of holes in building walls, a digital image of at least a portion of the drill bit of the drilling device is captured by means of an optical capture device arranged on the assembly device. The drilling device and the optical capture device are controlled by a control device. The control device evaluates said digital image and thereby assesses a condition of the drill bit. Said digital image contains information about a color of the drill bit, and the control device checks the color and a blue component of the color of the drill bit and assesses the condition of the drill bit based on the results of said checks of the color and the blue component of the color of the drill bit.

[0014] This makes it possible to assess the condition of the drill bit before drilling a hole with an unsuitable drill bit. This allows for highly reliable drilling.

[0015] The described embodiments relate equally to the assembly device according to the invention and the method according to the invention. In other words, features mentioned below, for example, with reference to the assembly device, can also be implemented as method steps, and vice versa.

[0016] The assembly device according to the invention can be used in particular for the at least partially automated installation of so-called shaft material in an elevator shaft of an elevator system. Shaft material refers to all components that are fastened to a shaft wall in an elevator shaft of the elevator system. These include, for example, so-called rail brackets or rail bracket parts, in particular rail bracket bases, by means of which guide rails of the elevator system are fixed to the shaft wall. Furthermore, shaft material can also be designed as fastening material for shaft doors, lighting, or cabling. For this purpose, the assembly device has, in particular, a support component on which the drilling device is arranged.The support component, and thus the drilling device, can be relocated within the elevator shaft, allowing holes to be drilled into the shaft walls at different positions within the elevator shaft. The basic design of the mounting device can be designed, for example, according to a mounting device described in WO 2017 / 016782 A1.

[0017] The mounting device according to the invention can also be used for assemblies and installations outside of an elevator shaft. For example, holes can be drilled at various locations in a building wall using the mounting devices, through which cable ducts or ventilation pipes can be secured. To access the various locations, the mounting device can, for example, have drivable and steerable wheels.

[0018] The mounting device according to the invention is intended to be located at the respective installation site only during the installation or assembly to be carried out and to be transported to the next installation site after the installation or assembly is completed. The mounting device according to the invention can therefore also be referred to as a mobile mounting device.

[0019] Automated drilling of holes is understood here as the drilling device being controlled by a control device using predefined rules. For this purpose, a program encoding these rules is stored in the control device. Automated drilling can be initiated, for example, by an operator or by another program.

[0020] A building wall is defined here as a surface that defines a room in a building, either internally or externally. A building wall can thus be designed, for example, as a vertical wall, a floor, or a ceiling. In particular, a building wall is designed as the shaft wall of an elevator shaft. However, it is also possible for the building wall to be part of a bridge or other structure. The building wall is typically made of concrete, which contains reinforcements.

[0021] The drilling device is designed, in particular, as a percussion drill, which is particularly suitable for drilling into concrete. It is guided, in particular, by a mechatronic installation component in the form of an industrial robot. The installation component can thus guide the drilling device when drilling a hole in a building wall and also position it in front of the optical detection device so that the optical detection device can capture a digital image of a relevant part of the drill or the entire drill.

[0022] The drill is designed, in particular, as a twist drill in the form of a stone or concrete drill. The drill has a hard metal plate or crown, particularly at its tip, which is connected via a solder joint to the rest of the drill, which is made, for example, of tool steel.

[0023] The optical detection device can be designed in a variety of ways; it can detect different optical properties of the drill and save them in a digital image. In particular, it is designed as a digital camera that can also detect and record colors. For this purpose, a digital camera has, in particular, three different types of light sensors: light sensors for red, yellow, and blue light. All colors can be composed of these three primary colors. It is also possible for the optical detection device to have only one or two different types of light sensors, in which case it has, in particular, light sensors for blue light. The optical detection device can also be designed, for example, as a scanner or a so-called spectrophotometer.

[0024] The design of the digital image depends on the type of optical capture device. This allows the digital image to be implemented in a variety of ways. It contains information about the drill's optical properties in digital form, which can be evaluated using a control device.

[0025] The control device for controlling the drilling device and the optical detection device can be designed as a single control device. It is also possible for it to consist of multiple control devices that control individual components of the assembly device and communicate with each other. In addition to the drilling device and the optical detection device, the control device can, in particular, control other components, such as the aforementioned installation component in the form of an industrial robot, or a fixing component or a displacement component of the assembly device.

[0026] The control device is designed to evaluate the digital image and, in doing so, assess the condition of the drill. This means that the control device is programmed to evaluate the digital image and, in doing so, assess the condition of the drill. Assessing the condition of the drill is understood, in particular, to distinguish between a "good" (iO) and a "not good" (nO) state. In addition to the states mentioned, there may be other states, such as "good with restrictions."

[0027] The control device is particularly designed to repeat the assessment of the drill's condition at regular or irregular intervals. For example, the assessment can be performed after each drilling of a hole or after a specified number of holes. The specified number can depend on the last detected condition of the drill. For example, if wear on the drill has already been detected, the specified number can be smaller than if no wear had yet been detected. Furthermore, depending on specified conditions, an assessment can also be performed independently of the number of holes drilled since the last assessment.

[0028] The goal of assessing the condition of the drill bit is to identify any insufficient condition for successful drilling before drilling with such a bit is initiated. Drilling with a drill bit in insufficient condition can lead to poor drilling results, the drilling process can take a very long time, or, in the worst case, the drill bit can break. A drill bit breaking off in the borehole very often requires intervention by an operator of the assembly device, thus interrupting the automatic drilling process. Such an interruption is undesirable, as it always consumes time.

[0029] In an embodiment of the invention, the control device is provided to decide, based on the detected condition of the drill, whether to continue using the drill or to initiate a change of the drill. The control device is particularly provided to continue using the drill if its condition is classified as OK and to initiate a change of the drill if its condition is classified as NOK. This can ensure particularly reliable drilling of holes in building walls. To initiate a change of the drill, the control device can output information to an operator of the assembly device to change the drill. It is also possible for the assembly device to have a second drilling device with an additional drill and for the change of the drill to be carried out by using said second drilling device.In addition, the assembly device can have an automated drill changing device by means of which the old drill can be removed from the drilling device and a new drill can be inserted.

[0030] In an embodiment of the invention, the assembly device comprises a mechatronic installation component for guiding the drilling device. The mechatronic installation component is controlled by the control device, and the control device is provided to control the installation component such that the drilling device and the drill are positioned in front of the optical detection device such that a digital image of at least part of the drill can be captured and thus generated. This allows the drilling device to be positioned very flexibly on the assembly device. Furthermore, the optical detection device can be arranged on the assembly device at a distance from the drilling device such that it does not impede the drilling of holes and is also not damaged or contaminated during drilling.

[0031] In an embodiment of the invention, the control device is provided to control the installation component in such a way that the drilling device and the drill are positioned in front of the optical detection device in such a way that a digital image of a wear mark arranged on the drill can be captured and thus generated. This enables a particularly reliable determination of the condition of the drill. The condition of the drill is classified as OK in particular if the wear mark can still be recognized in the digital image. The drill can, for example, have an outer surface, in particular an outer surface, on the tip of the drill, with an inward-facing groove as a wear mark. If material is removed from the said outer surface, i.e. wear occurs, the depth of the groove decreases more and more until it is no longer visible, i.e. can no longer be recognized in the digital image.

[0032] It is also possible to use pattern recognition methods or so-called machine learning to assess the condition of the drill. In a learning phase, the control system is presented with numerous digital images of drills along with the respective condition of the drill (OK or NOK). The control system can generalize the presented information so that, based on the acquired knowledge, it can assess the condition of the drill in a production phase, even based on previously unknown digital images. Neural networks are an example of a machine learning method.

[0033] An optical detection device capable of capturing a digital image with the color of the drill bit, and a control device configured to check the color of the drill bit and assess the condition of the drill bit based on the results of said color check, form an assessment device for assessing the condition of a drill bit of a drilling device. Such an assessment device represents a standalone invention that can also be used independently of an assembly device.

[0034] In an embodiment of the invention, said digital image contains information about an outer contour of the drill. The control device is provided to inspect the outer contour of the drill and assess the condition of the drill based on the results of said inspection of the outer contour of the drill. This allows mechanical damage or wear of the drill to be easily and reliably detected. The outer contour of the drill, or at least part of the drill, can be compared with a stored target outer contour. If the outer contour deviates too significantly from the target outer contour, the control device can classify the condition of the drill as not OK. Furthermore, machine learning methods can also be used, as already described.

[0035] In an embodiment of the invention, the control device is provided to record parameters of a drilling process of the drilling device, with stored

[0036] To compare expected parameters and, depending on the result of the comparison, to assess the condition of the drill bit used after completion of the drilling process and before the start of a subsequent drilling process. By comparing the parameters of a drilling process with stored expected parameters, drilling processes that could potentially cause damage to the drill bit can be identified. As soon as such a drilling process is detected, the condition of the drill bit is checked before the start of a subsequent drilling process. This can effectively prevent a drilling process from being carried out with a damaged drill bit.

[0037] In In an embodiment of the invention, the control device is provided to record a duration of the drilling process as a parameter of a drilling process, to compare it with an expected parameter in the form of a limit duration, and to assess the condition of the drill used after completion of said drilling process and before the start of a subsequent drilling process if the recorded duration of the drilling process is greater than the limit duration. If, when drilling into a concrete building wall in particular, reinforcement in the form of a metal rod has to be drilled into or through, the duration of the drilling process is significantly longer than if no reinforcement is encountered. The said limit duration can in particular be set such that drilling is safely completed without being impaired by reinforcement. If a drilling process then lasts longer than the set limit duration, it can be assumed with a high degree of probability that the drill has encountered reinforcement.Drilling into or through reinforcement leads to increased wear on the drill bit and, in particular, to significant heating of the drill bit. This embodiment of the invention particularly effectively prevents drilling operations from being carried out with a damaged drill bit.

[0038] In an embodiment of the invention, the control device is provided to detect a minimum feed rate of the drill during the drilling process as a parameter of a drilling process, to compare it with an expected parameter in the form of a limit speed, and to assess the condition of the drill used after completion of said drilling process and before the start of a subsequent drilling process if the detected minimum feed rate during the drilling process is lower than the limit speed. If, when drilling into a concrete building wall in particular, reinforcement in the form of a metal rod has to be drilled into or through, the minimum feed rate during the drilling process is significantly lower than if no reinforcement is encountered. The said limit speed can in particular be set such that the minimum feed rate is reliably higher without being affected by reinforcement.If the minimum feed rate is lower than the specified limit speed, it can be assumed with a high degree of probability that the drill has hit reinforcement. This embodiment of the invention particularly effectively prevents drilling operations from being carried out with a damaged drill bit.

[0039] Drilling into or through reinforcement can also be detected in other ways. For example, the mounting device can have a reinforcement detection component that can detect reinforcement in a wall.

[0040] In an embodiment of the invention, the assembly device comprises an automated drill bit changing device. The control device is provided to control the assembly device for changing the drill bit of the drilling device in such a way that a drill bit arranged in the drilling device is removed from the drilling device and a new drill bit is arranged in the drilling device. If the drilling device is guided by an installation component, the control device, in particular, controls the installation component in such a way that the drill bit is removed from the drilling device and a new drill bit is arranged in the drilling device.

[0041] The automated drill bit change thus made possible eliminates the need for manual intervention by the assembly fixture operator. The assembly fixture can thus drill a large number of holes without manual intervention by the operator. Drilling the holes can thus be carried out very quickly and efficiently.

[0042] The drill changing device may, for example, consist of a device for removing a tool from a tool holder and a magazine according to the applicant's unpublished European patent application with application number 18186467.9. In In this case, the installation component is first controlled so that the drill is inserted into the drilling device for removal. After the drill is removed, the installation component is controlled so that a new drill is placed in the drilling device from the magazine.

[0043] It should be noted that some of the possible features and advantages of the invention are described herein with reference to different embodiments of the inventive assembly device, on the one hand, and the inventive method, on the other. A person skilled in the art will recognize that the features can be combined, adapted, transferred, or exchanged in a suitable manner to achieve further embodiments of the invention.

[0044] Further advantages, features, and details of the invention will become apparent from the following description of exemplary embodiments and from the drawings, in which identical or functionally equivalent elements are provided with identical reference numerals. The drawings are merely schematic and not to scale.

[0045] Showing: Fig. 1 a perspective view of a lift shaft of an elevator system with a mounting device accommodated therein, Fig. 2 a perspective view of the mounting device from Fig. 1 , Fig. 3a digital image of a part of a drill with a crown and Fig. 4the crown of the drill from Fig. 3 in an enlarged view.

[0046] The following describes a mounting device and method for the automated drilling of holes in building walls in connection with the installation of an elevator system in an elevator shaft. However, the application of such a mounting device and method is not limited to the described application, but can also be used for other purposes. This may require adjustments to the mounting device and method, which a person skilled in the art can easily implement using their specialist knowledge and the rest of the description.

[0047] In Fig. 1 A mounting device 14 is shown arranged in a lift shaft 10 of an elevator system 12, by means of which rail bracket lower parts 16 can be fixed to a building wall in the form of a shaft wall 18. For this purpose, holes 15 can be drilled into the shaft wall 18 by the mounting device 14. The lift shaft 10 extends in a main extension direction 11, which in the Fig. 1 is aligned vertically. In a later assembly step, guide rails of the elevator system 12 (not shown) can be fixed to the shaft wall 18 via the rail bracket lower parts 16. The assembly device 14 has a support component 20 and a mechatronic installation component 22. The support component 20 is designed as a frame on which the mechatronic installation component 22 is mounted. This frame has dimensions that enable the support component 20 to be displaced vertically within the elevator shaft 10, i.e., for example, to be moved to different vertical positions on different floors within a building. In the example shown, the mechatronic installation component 22 is designed as an industrial robot 24, which is attached to the frame of the support component 20 in a downwardly suspended manner.An arm of the industrial robot 24 can be moved relative to the support component 20 and, for example, displaced towards the shaft wall 18 of the elevator shaft 10.

[0048] The support component 20 is connected via a steel cable serving as a support means 26 to a displacement component 28 in the form of a motor-driven cable winch, which is mounted at the top of the elevator shaft 10 at a stop 29 on the ceiling of the elevator shaft 10. With the aid of the displacement component 28, the mounting device 14 can be displaced within the elevator shaft 10 in the main extension direction 11 of the elevator shaft 10, i.e., vertically over the entire length of the elevator shaft 10.

[0049] The mounting device 14 further comprises a fixing component 30, by means of which the support component 20 can be fixed within the elevator shaft 10 in the lateral direction, i.e. in the horizontal direction.

[0050] In the elevator shaft 10, two reference elements 13 in the form of cords are stretched along its entire length, aligned along the main extension direction 11. The reference elements 13 are installed by a fitter in the elevator shaft 10 and form the reference for the alignment and installation of guide rails of the elevator system 12. The guide rails must therefore run parallel to the reference elements 13 and at a specific distance from the reference elements 13 when installed. The course of the reference elements 13 can be used to determine the course of the guide rails and thus the target positions of the rail bracket bases 16 on the shaft wall 18. The target positions of the rail bracket bases 16 determine the target positions of the holes 15 in the shaft wall 18.

[0051] Fig. 2 shows an enlarged view of a mounting device 14.

[0052] The support component 20 is designed as a cage-like frame in which several horizontally and vertically extending beams form a mechanically resilient structure. Attached to the top of the cage-like support component 20 are retaining cables 32, which can be connected to the support means 26.

[0053] In the illustrated embodiment, the mechatronic installation component 22 is implemented using an industrial robot 24. In the illustrated example, the industrial robot 24 is equipped with multiple robot arms that can pivot about pivot axes. For example, the industrial robot can have at least six degrees of freedom, meaning that an assembly tool 34, 40 guided by the industrial robot 24 can be moved with six degrees of freedom, i.e., for example, with three rotational degrees of freedom and three translational degrees of freedom. For example, the industrial robot can be implemented as a vertical articulated-arm robot, a horizontal articulated-arm robot, a SCARA robot, or a Cartesian robot or gantry robot.

[0054] The robot can be coupled to various assembly tools 34, 40 at its cantilevered end. The assembly tools 34, 40 can differ in terms of their design and intended use. The assembly tools 34, 40 can be held on the support component 20 in such a way that the cantilevered end of the industrial robot 24 can be moved toward them and coupled to one of them. For this purpose, the industrial robot 24 can, for example, have a tool changing system designed to enable the handling of at least several such assembly tools 34, 40.

[0055] One of the assembly tools 34 is designed as a sensor, for example as a laser scanner, by means of which the relative position of the support component 20 with respect to the reference elements 13 can be determined. This can be carried out, for example, using a method described in WO 2017 / 167719 A1. From the relative position of the support component 20 with respect to the reference elements 13, the position of the support component 20 in the elevator shaft 10 can be determined. Based on the position of the support component 20, it can be determined at which points on the shaft wall 18 a rail bracket lower part 16 is to be attached. This allows the target position of a rail bracket lower part 16 on the shaft wall 18 and the target positions of the corresponding holes 15 to be determined.

[0056] One of the assembly tools 34 is designed as a reinforcement detection component. The reinforcement detection component is configured to detect reinforcement within the shaft wall 18. For this purpose, the reinforcement detection component can, for example, use physical measurement methods that utilize the electrical and / or magnetic properties of the typically metallic reinforcement within a concrete wall to accurately detect the position of this reinforcement.

[0057] One of the assembly tools is designed as a drilling device 40 with a drill 41, similar to a hammer drill. By coupling the industrial robot 24 to such a drilling device 40, the installation component 22 is configured to enable at least partially automated, controlled drilling of holes 15 in one of the shaft walls 18 of the elevator shaft 10. The drilling device 40 can be moved and handled by the industrial robot 24 such that the drilling device, with the drill 41, drills holes 15 into the shaft wall 18 of the elevator shaft 10 at a designated drilling position, into which fastening means in the form of anchor bolts are later driven to secure the rail bracket bases.

[0058] A further assembly tool 34 is designed as an impact tool to at least partially automatically drive anchor bolts into previously drilled holes in the shaft wall 18 of the elevator shaft 10.

[0059] A further assembly tool 34 is designed as a gripper in order to at least partially automatically fasten a rail bracket lower part 16 to the shaft wall 18.

[0060] A magazine component 36 can also be provided on the support component 20. The magazine component 36 can be used to store rail bracket bases 16 to be installed and to provide them to the installation component 22. Anchor bolts can also be stored and provided in the magazine component 36, which can be driven into pre-drilled holes in the shaft wall 18 using the installation component 22.

[0061] In the lower area of ​​the carrier component 20, an optical detection device in the form of a digital camera 35 is arranged. The digital camera 35 is positioned so that the drilling device 40 and thus the drill 41 can be positioned in front of the digital camera 35 by means of the industrial robot 24 so that the digital camera 35 can capture a digital image (42 in Fig. 3 ) of at least a part of the drill 41. The drill 41 is positioned in several different positions in front of the digital camera 35, so that the digital camera 35 can capture several digital images of different parts of the drill 41 and / or from different viewing angles. In Fig. 3 A digital image 42 of the front area of ​​the drill 41 is shown as an example. The drill 41 has a crown 43 made of hard metal at its tip, which is connected to the rest of the drill via a solder connection (not shown).

[0062] In the upper area of ​​the support component 20, a control device 37 is arranged for controlling the assembly device 14 and thus, among other things, for controlling the industrial robot 22, the drilling device 40, and the digital camera 35. The control device 37 is connected to the aforementioned components via signal lines (not shown). The control device 37 evaluates the digital image of the drill 41 captured by the digital camera 35 and thereby assesses the condition of the drill 41.

[0063] The control device 37 is programmed to distinguish between two states based on the one digital image 42 or multiple digital images 42, namely the "OK" (iO) state and the "NOT OK" (nO) state. The following describes the evaluation of a single digital image 42. If multiple digital images are evaluated, the OK state of the drill 41 is only recognized if the OK state is determined when evaluating all digital images.

[0064] If the control device 37 assesses the condition of the drill 41 as OK, the drill 41 continues to be used, i.e., further holes 15 are drilled with the drill 41. If the control device 37 assesses the condition of the drill 41 as not OK, it initiates a change of the drill 41, which is carried out automatically, i.e., without the involvement of an operator of the assembly device 14.

[0065] To enable automatic changing of the drill 41, the assembly device 14 has a drill changing device 44, which consists of a device 38 for removing a tool from a tool holder and a magazine 39. The magazine 39 provides new drills 41 (not shown), which can be picked up by the drilling device 40 after the old drill 41 has been removed. The device 38 and the magazine 39 are designed according to the applicant's unpublished European patent application with application number 18186467.9. To change a drill 41, the drilling device 40 with the drill 41 is first moved by the industrial robot 24 such that the drill 41 is inserted into the device 38 and thereby removed from the drilling device 40. The drilling device 40 is then moved such that it picks up a new drill 41 from the magazine 39.With the new drill 41, drilling of holes 15 into the shaft wall 18 can be continued.

[0066] The control device 37 repeats the assessment of the condition of the drill 41 at regular intervals. It repeats the assessment after drilling a specified number of holes, for example, after every 8 holes.

[0067] The control device 37 records the duration of each drilling operation of a hole 15 and compares the recorded duration with a specified and stored limit duration. If the recorded duration is longer than the specified limit duration, it assesses the condition of the drill bit 41 before starting a subsequent drilling operation and replaces it if necessary.

[0068] Furthermore, the control device detects a minimum feed rate of the drill 41 each time a hole 15 is drilled and compares the detected minimum feed rate with a specified and stored limit speed. If the detected minimum speed is lower than the limit speed, it assesses the condition of the drill 41 before starting a subsequent drilling operation and replaces it if necessary.

[0069] The digital image 42 contains information about a color of the drill 41, which in Fig. 3 cannot be displayed. The control device 37 checks the color of the drill 41 and assesses the condition of the drill 41 based on the results of the aforementioned test. From the color of the drill 41, it can be deduced whether the drill 41 became very hot during a previous drilling operation. If it becomes very hot, the drill 41 turns blue, which is detected by the control device 37. The control device 37 classifies the condition of the drill as not OK if it detects a color in the digital image 42 that is typical of overheating of the drill 41.

[0070] The control device 37 primarily evaluates the color in the area of ​​the tip of the drill 41. It can also perform preprocessing to identify contiguous areas of the drill 41 with similar colors. This can be done, for example, using a so-called blob analysis. A color is then only considered if it occurs in a contiguous area or an entire area with a specified and stored minimum surface area.

[0071] When checking the color of the drill bit 41, the control device 37 compares the color of the drill bit 41 with stored reference colors, which are typical for excessive heating of the drill bit 41. If the color of the drill bit 41 matches a reference color, the condition of the drill bit is classified as not OK.

[0072] The control device 37 can also determine a blue component of the color of the drill 41 and assess the condition of the drill 41 based on the specified blue component. The control device 37 classifies the condition of the drill 41 as not OK if the blue component exceeds a specified and stored threshold value.

[0073] The digital image 42 also contains information about an outer contour of the drill 41.

[0074] The control device 37 checks the outer contour of the drill 41 and assesses the condition of the drill 41 based on the results of the aforementioned inspection of the outer contour of the drill 41. To do so, the control device 37 compares the outer contour of the drill 41 with a stored target outer contour. If the outer contour of the drill 41 deviates too significantly from the target outer contour, the control device 37 classifies the condition of the drill 41 as not OK.

[0075] As in Fig. 4As shown, the crown 43 of the drill 41 has a wear mark in the form of an inward-facing groove 44 running in an axial direction 45. The groove 44 is arranged on an outer surface of one of a total of four webs 46 of the crown 43, which are arranged at right angles to one another. The drill 41 is positioned in front of the digital camera 35 so that a digital image of the web 46 with the groove 44 can be captured. As long as the control device 37 recognizes the groove 44 in the digital image, it classifies the drill 41 as OK. If it can no longer recognize the groove 44 in the digital image, then the wear on the outer contour of the crown 43 is too great and thus the diameter of the crown 43 is too small to allow the drill 41 to be used any further. The control device 37 thus classifies the drill 41 as not OK as soon as it can no longer recognize the groove 44 in the digital image of the drill 41.

[0076] Finally, it should be noted that terms such as "having," "comprising," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above, provided these combinations do not violate the scope of the following set of claims. Reference signs in the claims are not to be considered as limitations.

Claims

1. Mounting device for the automated drilling of holes (15) in building walls (18), comprising a drilling device (40) with a drill bit (41), characterized by - an optical detection device (35) for detecting a digital image (42) of at least a part of the drill bit (41) of the drilling device (40), and - a control device (37) for controlling the drilling device (40) and the optical detection device (35), wherein the control device (37) is provided to evaluate said digital image (42) and thereby assess a condition of the drill bit (41), and said digital image (42) contains information about a color of the drill bit (41), and the control device (37) is provided for checking the color of the drill bit (41), determining a blue component of the color and assessing the condition of the drill bit (41) on the basis of the results of said checking of the color of the drill bit (41) and said blue component.

2. Mounting device according to Claims 1, characterized in that the control device (37) is provided for deciding, on the basis of the detected state of the drill bit (41), to continue using the drill bit (41) or to initiate a change of the drill bit (41).

3. Mounting device according to Claims 1 or 2, characterized by a mechatronic installation component (22, 24) for guiding the drilling device (40), wherein the mechatronic installation component (22, 24) is controlled by the control device (37) and the control device (37) is provided for controlling the installation component (22, 24) such that the drilling device (40) and the drill bit (41) are positioned in front of the optical detection device (35) such that a digital image (42) of at least a part of the drill bit (41) can be detected.

4. Mounting device according to Claims 3, characterized in that the control device (37) is provided for controlling the installation component (22, 24) in such a way that the drilling device (40) and the drill bit (41)are positioned in front of the optical detection device (35) in such a way that a digital image (42) can be detected from a wear mark (44) arranged on the drill (41).

5. Mounting device according to one of Claims 1 to 4, characterized in that said digital image (42) contains information about an outer contour of the drill (41), wherein the control device (37) is provided to check the outer contour of the drill bit (41)and to assess the condition of the drill bit (41)based on the results of said checking of the outer contour of the drill (41).

6. Mounting device according to one of Claims 1 to 5, characterized in that the control device (37) is provided for detecting parameters of a drilling operation of the drilling device (40), comparing them with stored expected parameters and, depending on the result of the comparison, assessing the state of the drill bit (41)used after completion of said drilling operation and before the start of a subsequent drilling operation.

7. Mounting device according to Claims 6, characterized in that the control device (37) is provided for detecting, as a parameter of a drilling operation, a duration of the drilling operation, comparing it with an expected parameter in the form of a limit duration and assessing the state of the drill bit (41)used after completion of the said drilling operation and before the start of a subsequent drilling operation if the detected duration of the drilling operation is greater than the limit duration.

8. Mounting device according to Claims 6 or 7, characterized in that the control device (37) is provided to detect a minimum feed rate of the drill (37) during the drilling operation as a parameter of a drilling operation, to compare it with an expected parameter in the form of a limiting speed and to assess the state of the drill bit (41)used after completion of said drilling operation and before the start of a subsequent drilling operation if the detected minimum feed rate during the drilling operation is less than the limiting speed9. Mounting device according to one of Claims 2 to 8, characterized by an automated drill bit changing device (44), wherein the control device (37) is provided for controlling the mounting device (14) for a change of the drill bit (41) of the drilling device (40) in such a way that a drill bit (41) arranged in the drilling device (40) is removed from the drilling device (40) and a new drill bit (41) is arranged in the drilling device (40).

10. Method for assessing a condition of a drill bit (41) of a drilling device (40) of an Mounting device (14) for automated drilling of holes (15) in building walls (18), in which - a digital image (42) of at least a part of the drill bit (41) of the drilling device (40) is captured by means of an optical detection device (35) arranged on the mounting device (14), - the drilling device (40) and the optical detection device (35) are controlled by a control device (37), and - the control device (37) evaluates said digital image (42) and thereby assesses a condition of the drill (41), and said digital image (42) contains information about a color of the drill bit (41), and the control device (37) checks the color of the drill bit (41), determines a blue component of the color, and judges the condition of the drill bit (41) based on the results of said checking of the color of the drill bit (41) and said blue component.

11. Method according to Claims 10, characterized in that said digital image (42) contains information about an outer contour of the drill bit (41) and the control device (37) checks the outer contour of the drill bit (41) and assesses the condition of the drill bit (41) on the basis of the results of said check of the outer contour of the drill bit (41).