METHOD FOR CALIBRATING A CONSTRUCTION ROBOT

Description

[0001] The invention relates to a method for calibrating a construction robot. Such a construction robot is known, for example, from DE 10 2009 042014 A1.

[0002] Construction work on building sites often requires a high degree of positional accuracy. For example, drilling into ceilings frequently needs to be carried out with positional accuracies of 0.5 cm or better, so that ceiling elements to be installed on the ceilings can be properly fixed to the drill holes.

[0003] To achieve such positional accuracy with a construction robot that is to perform such construction work using a manipulator, the manipulator itself should also be controllable with high precision. In particular, the manipulator's movements relative to the construction robot's mobile platform should be precise and, above all, predictable. Typically, the manipulator has actuators, such as stepper motors, that allow it to move to a desired position. However, due to manufacturing tolerances, systematic deviations specific to each manipulator can occur between the desired and the actual position, measured relative to the position and orientation of the mobile platform. Before the first use of a construction robot, or...Therefore, the manipulator is currently calibrated; in particular, calibration data is generated to calibrate the manipulator's positioning movements, from which correction information is later derived to correct subsequent positioning movements accordingly.

[0004] Up to now, calibration has been performed by connecting a calibrated duplicate of the manipulator to be calibrated to the manipulator. During the process of moving through several positions, the position and orientation data determined by both the manipulator and the duplicate are recorded and compared.

[0005] However, this method requires a calibrated duplicate, which significantly increases calibration costs. Furthermore, calibration can only be performed at the duplicate's location, typically a manufacturing facility or repair shop, not on the construction site where the robot is intended to be used. If, for example, the manipulator needs to be replaced due to damage or wear, such a replacement usually cannot be carried out directly on-site because of the calibration requirements.

[0006] The object of the present invention is to present a method for calibrating a construction robot, by which a construction robot can be calibrated in a particularly simple and cost-effective manner, even on site.

[0007] The construction robot to be calibrated by the method for carrying out construction work on a construction site comprises a mobile platform and a manipulator movable relative to the mobile platform, and optical sensors arranged and / or formed at least partially on the mobile platform and a control unit which is configured to determine, using the optical sensors, a position and / or a location of the manipulator, in particular of a tool arranged on the manipulator, relative to the mobile platform.

[0008] By using optical sensors, the positions of even an uncalibrated manipulator can be determined largely free from manufacturing tolerances, particularly those caused by mechanical factors. By at least partially integrating the optical sensors onto the mobile platform, these positions can be determined at any location.

[0009] External accessories, especially calibrated duplicates, are not required. This means, for example, that a replacement manipulator can be calibrated directly on-site at the construction site where the corresponding construction robot is to be used.

[0010] Calibration can therefore be performed using readily available onboard equipment. In this respect, such a construction robot can also be considered a calibration-free construction robot, particularly in the sense that calibration with external accessories is not required.

[0011] One advantage of the construction robot is its ability to automatically determine the position and / or orientation of the manipulator, particularly the tool, relative to the mobile platform, independent of the manipulator's mechanical properties. Therefore, if the manipulator is replaced, no additional calibration with external devices is required, or at most, fewer calibration measures are needed to precisely guide the tool to the desired positions with the replaced manipulator. Furthermore, for example in a feedback loop, the manipulator can be moved, and its position relative to the mobile platform can be determined using sensors. If the achieved position deviates from a target position, the manipulator can be repeatedly corrected until the target position is reached.

[0012] Optical sensors can be understood as sensors based on the detection of electromagnetic waves. For example, sensors based on visible and / or infrared light and / or microwaves are conceivable.

[0013] The construction robot can have an end effector. The end effector can have at least one tool or a tool holder for holding a tool. The end effector and the mobile platform can be connected to each other via the manipulator. In particular, a tool interface for holding the tool and / or for power transmission and / or for data transmission to and / or from the tool can be arranged and / or configured on the end effector.

[0014] The term "tool" can refer to an insert tool, such as a marking tool, a drill bit, a chisel, a saw blade, or a grinding tool. Alternatively or additionally, the term "tool" can also refer to a machine tool, particularly one designed to hold and / or use a tool, such as a marking machine, a controllable paint spray nozzle, a drilling machine, especially a rock drilling machine, a hammer drill, a chiseling machine, a grinding machine, or the like.

[0015] The optical sensor system can be multi-part. In particular, one part can be located on the manipulator, the end effector, and / or the tool. At least one other part can be located on the mobile platform. This allows the optical sensor system to be configured particularly easily, enabling the manipulator's position relative to the mobile platform to be determined with high precision using the first part and the other part.

[0016] The optical sensor system can, for example, include a laser distance meter. Alternatively or additionally, it can include at least one image capture unit. For example, the image capture unit can include a black and white and / or a color camera.

[0017] In addition to optical sensors, the construction robot can also have non-optical sensors. The control unit can then be configured to determine the position and / or orientation of the manipulator, particularly a tool attached to the manipulator, relative to the mobile platform using the non-optical sensors. This allows for position determination, at least temporarily, even when, for example, there is no direct line of sight between different parts of the optical sensors. The non-optical sensors can be, for example, mechanical sensors. They can be configured, for instance, to determine the positions of individual joints of the manipulator. For this purpose, they can include at least one proprioceptive sensor.

[0018] If the construction robot has a position sensor to detect its orientation, for example in the form of an accelerometer, the robot's tilt angle relative to the surface it is positioned on and / or relative to the horizontal can also be determined. This allows the manipulator, and especially the tool, to approach a work position, such as a drilling point on a wall or ceiling, with even greater precision, as any tilting moments, particularly when the manipulator is extended, relative to the surface and / or the horizontal can be determined and compensated for.

[0019] The orientation sensor can be configured to determine the position of the mobile platform and / or the manipulator, particularly the end effector, for example, relative to a horizontal and / or a vertical plane. Accordingly, it can be located on the mobile platform and / or the manipulator, especially on the end effector.

[0020] The position sensor can, for example, be and / or include an accelerometer. The accelerometer can be located, in particular, on the end effector and / or on the mobile platform. The accelerometer can be configured to detect accelerations along at least one direction, preferably two-dimensionally, and more preferably three-dimensionally.

[0021] Changes in position and / or orientation detected by the sensors and / or the accelerometer can be compensated for by an adjustment device of the construction robot.

[0022] A localization marker, for example in the form of an AruCo marking, can be arranged and / or implemented on the construction robot, particularly on the end effector and / or the manipulator. In particular, the optical sensors can include the localization marker.

[0023] For example, the image acquisition unit can then detect the position and / or orientation contactlessly and at high frequency, particularly with high accuracy. The control unit can then identify and locate the localization marker by processing images captured by the image acquisition unit.

[0024] Overall, such optical sensors can be very lightweight. In particular, the localization marker can be lightweight, so that the optical sensors add only minimal additional load to the manipulator or end effector. Such optical sensors can also be particularly cost-effective, as they eliminate the need for cost-intensive precision components such as precision angle measuring units or LiDAR scanners.

[0025] To enable continuous monitoring of the position and / or location, the localization marker can be arranged at least partially, preferably completely, within a field of view of the image acquisition unit.

[0026] The manipulator can have at least three, preferably at least six, degrees of freedom. These degrees of freedom can be relative to the mobile platform. At least three degrees of freedom allow work to be carried out on ceilings or walls without pivoting the mobile platform from vertical to horizontal or vice versa. With six degrees of freedom, work can be carried out on both ceilings and walls without pivoting the mobile platform. This also allows construction work to be carried out in otherwise difficult-to-reach locations, for example, where, with fewer degrees of freedom, the path to the desired position would be blocked by installation elements such as pipes or cable trays.

[0027] The end effector can offer additional degrees of freedom. For example, a telescopic element can be arranged on the end effector, allowing the tool to be moved relative to the end effector.

[0028] The tool may be, for example, a marking tool, a drilling tool, a chiseling tool, a grinding tool and / or a cutting tool, in particular a saw blade, and / or include.

[0029] In general, the construction robot can be configured to perform work in civil engineering and / or plant construction. On such construction sites, on-site calibration is often particularly important, but has so far been very difficult to carry out.

[0030] Construction work at particularly great heights, especially on the ceilings of halls, can be made possible if the mobile platform is a flying platform. The flying platform can be a drone. It must have at least one propeller. Flying can also include hovering in the air.

[0031] The mobile platform can be configured for wired and / or wireless execution of construction work. For example, it can be connected to a power supply line during operation. Alternatively or additionally, it can also have a battery, particularly a lithium-based one. It is also conceivable that the mobile platform could incorporate a fuel cell.

[0032] Alternatively or additionally, it is also conceivable that the mobile platform includes a movable platform, for example a tracked vehicle and / or a wheeled vehicle, and / or is designed as such.

[0033] To increase its vertical reach, the mobile platform, especially if it is designed as a mobile platform, may have a lifting device.

[0034] The construction robot, in particular the end effector, can be equipped with a laser distance meter. In this case, at least one position marker can be arranged on the construction site so that the position and / or orientation of the construction robot relative to the position marker, preferably to several position markers, can be determined. Alternatively or additionally, it can be configured to be detected by a total station to determine its position and / or orientation. For this purpose, the construction robot can, for example, have a reflector, such as a prism. Thus, the position and / or orientation of the construction robot, in particular its position and / or orientation, relative to an absolute reference system of the construction site and / or the total station or the at least one position marker, can be determined.

[0035] Due to obstructions, work positions where construction work is to be carried out, and to which the tool or at least its tip must be moved, are often not within the total station's field of view. Therefore, the reflector or laser distance meter can be positioned on the mobile platform, to which a direct line of sight is often more readily established. This allows at least the position and / or orientation of the mobile platform to be determined, and, if the relative offset of the mobile platform to the end effector, particularly to the tool tip, is known, the position and / or orientation of the end effector, especially the tool tip, can also be determined.

[0036] The task is solved by a Method for calibrating a construction robotof the type described above and / or below, wherein calibration data for calibrating positioning movements of the manipulator are generated by bringing the manipulator into at least a first and then a second position, and upon reaching the respective position, at least one position and / or orientation of the manipulator, in particular of a tool arranged on the manipulator, relative to the mobile platform, is determined using the optical sensors arranged and / or formed at least partially on the mobile platform of the construction robot.

[0037] Since only on-site resources are required to carry out the process, the construction robot can also be calibrated on-site, for example at a construction site. No particularly expensive components are needed, making the process especially cost-effective.

[0038] In one variant of the method, at least one of the positions and / or orientations can be determined by recording and evaluating first image data from a localization marker arranged and / or formed on the manipulator and second image data from an external localization marker arranged and / or formed in the vicinity of the construction robot. The first and second image data can be recorded, in particular, from the mobile platform, for example, if the image acquisition unit is arranged and / or formed on the mobile platform. Preferably, the external localization marker is positioned at least temporarily, particularly during ongoing calibration, in a stationary position relative to the environment.

[0039] The additional use of the second image data makes it possible, in particular, to detect tilting movements of the entire construction robot relative to its environment and depending on the movements of the manipulator, especially its respective extension. In this respect, the use of a position sensor can be supplemented or replaced in this way.

[0040] Furthermore, it is conceivable that the positions to be approached correspond to certain positions of the manipulator and / or the tool relative to the external localization marker.

[0041] For example, it is conceivable that a tool tip should touch specific positions on the external localization marker. Based on knowledge of the localization marker's appearance, combined with the second image data, image processing can then be performed in a particularly simple and computationally efficient manner. This allows for the highly precise determination of the positions and / or orientations of the respective points, and especially any deviations of these positions and / or orientations from the target values.

[0042] To keep technical requirements for, for example, the image acquisition unit low,

[0043] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, with reference to the figures in the drawing, which show essential details of the invention, as well as from the claims. The features shown therein are not necessarily to scale and are depicted in such a way that the inventive features can be clearly seen.

[0044] The schematic drawing shows exemplary embodiments of the invention, which are explained in more detail in the following description. They show:

[0045] Fig. 1 a construction robot with a flying platform performing a construction task on a ceiling, Fig. 2 an end effector platform of the construction robot, Fig. 3 a localization marker, Fig. 4 a construction robot with a mobile platform, Fig. 5 another construction robot with a mobile platform and Fig. 6 a method for calibrating a construction robot.

[0046] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0047] Fig. 1 shows a construction robot 10 , which is attached to a ceiling 100 , i.e., on a construction site, a building under construction, in particular on a construction site located within the building, a construction task is carried out. The construction task consists of marking the underside of ceiling 100 according to the available CAD planning data.

[0048] The construction robot 10 is designed as a drone, i.e., as an unmanned aerial vehicle. It is equipped with a mobile platform for this purpose. 12 in the form of a hexacopter. The mobile platform 12 features an end-effector platform. 14 arranged.

[0049] Fig. 2 Figure 14 shows the end effector platform in a perspective side view.

[0050] The end effector platform 14 includes an end effector 16. The end effector 16 is connected via a manipulator 18, in particular a parallel manipulator of the construction robot 10 connected to the mobile platform 12.

[0051] Construction robot 10 is configured to mark areas on ceiling 100 according to CAD data transmitted to it. For this purpose, end effector 16 points a marking pen. 20 on.

[0052] The marking pen 20 is mounted on a lifting device 22arranged. Thus, the marker pen 20 can be placed in the Fig. 1 The depicted position of the construction robot 10 towards and / or away from the ceiling 100 can be moved, in particular without having to move the end effector platform 14 as a whole. This movement capability is shown in Fig. 2 symbolized by a double arrow.

[0053] The marking pen 20 is designed as a colored pen so that it can apply a colored mark to the ceiling 100 as soon as it touches the ceiling 100. To enable adequate color application and to protect the marking pen 20 from excessive mechanical stress, the marking pen 20 can be spring-mounted on the lifting device 22, for example by means of a foam material and / or a metal element. The marking pen 20 thus constitutes a marking tool that is held in a tool holder (as shown in the illustration). Fig. 2 (not visible), which in turn is arranged on the lifting device 22.

[0054] The end effector 16 further comprises three contact elements 24 The contact elements 24 are designed as wheels, in particular as omnidirectional wheels. As can be seen in particular from Fig. 1 As can be seen, the contact elements 24 make contact with the ceiling 100 during the execution of the construction task, i.e., during the marking of the ceiling 100. They are powered by motors. 26 Each can be driven individually. Thus, the end effector 16 can be moved along the ceiling 100 by means of the motor-driven contact elements 24, i.e., in this embodiment by means of the omnidirectional wheels ( Fig. 1 ) move at least along two dimensions.

[0055] The Manipulator 18 is designed as a hexapod. It has six support arms. 28The support arms 28 are not driven in this embodiment, but are attached to bearing points of the end effector 16 on the one hand, and to bearing points of a mounting device located below the end effector 16 on the other. 30 The end effector 16 is rotatably mounted. Thus, the end effector 16 is relatively movable relative to the mounting device 30, in particular with at least 6 degrees of freedom, but is nevertheless supported by the support arms 28. The manipulator 18 is therefore designed as a passive system.

[0056] The support arms 28 are designed as shock absorbers, in particular fluid-damped ones. For damping, they have a fluid-filled piston, in particular filled with water, and externally arranged spring elements. The pistons together with the respective spring elements thus form damping elements. In addition, when the end effector 16 is deflected relative to the mounting device 30 from a rest position, the spring elements ensure automatic return to the rest position. The spring constants of the support arms 28 can be set such that, in the rest position, they are retracted to approximately half their total length by the weight of the end effector 16 or, alternatively, by the weight of the end effector 16 plus an expected additional load force, for example 15 N.Starting from the rest position, they can be arranged so that the end effector 16 can be moved sufficiently far, for example by 2 to 4 cm in each of the x and y directions of a plane parallel to the end effector 16.

[0057] The support arms 28 are arranged such that the end effector platform 14 is in a stable state in its rest position. In particular, the support arms 28 are arranged such that the end effector 16 does not tip to one side on its own.

[0058] Suitable positions and / or orientations for the support arms 28 to achieve such a stable rest position can be found by creating a total energy balance of the arrangement, in particular including a potential energy of the end effector and, if applicable, of the support arms 28 as a function of its or their position and / or orientation, as well as a strain energy of the spring elements of the support arms 28, and by seeking a minimum of the total energy that is as global as possible, but at least local, depending on the positioning and / or orientation of the support arms 28.

[0059] The fastening device 30 serves to fasten the end effector platform 14 to the mobile platform 12 (see Fig. 1). The fastening can be designed to be detachable, so that the end effector platform 14 can also be subsequently mounted on other mobile platforms, for example octocopters or on a ground-based mobile platform, for example a wheeled and / or tracked chassis.

[0060] The mounting device 30 forms a lower plane below the end effector 16. It has a light. 32 as well as a camera 34 The camera 34 is an image acquisition unit. The illumination 32 and the camera 34 are oriented upwards, i.e., towards the underside of the end effector 16. A localization marker is located on the underside of the end effector 16, specifically within the field of view of the camera 34. 36.

[0061] Fig. 3Figure 3 shows an example image of the localization marker 36 recorded by camera 34. The localization marker 36 has a checkerboard pattern of registration marks, for example, in the form of ArUco markers. Other designs of the localization marker are also conceivable. Preferably, the localization marker should be designed in such a way that it is identifiable with high sensitivity and specificity and, in particular, distinguishable from an environment typical of construction sites. In addition, it should preferably have at least one easily identifiable section of known length, so that at least this section can be used to calibrate distance estimates. In general, the localization marker should be identifiable and localizable by image processing.Preferably, the localization marker has at least a two-dimensional pattern, so that its position or orientation in space can also be determined by image processing. Accordingly, it is also conceivable that a moving, visibly arranged part of the manipulator and / or the tool is used as a localization marker, provided that its shape, in particular at least one dimension, is known and constant and the part meets the aforementioned requirements for its identifiability and localizability.

[0062] A control unit 38, in Fig. 2As shown schematically, the system is set up to evaluate images taken by the camera 34 and, by means of image processing, to determine the position and / or location of the end effector 16 relative to the mounting device 30 from the type, size, location and / or position of recognized elements, for example the registration marks.

[0063] Furthermore, a reflective element is attached to the fastening device 30. 40 arranged, which is set up to be detected, for example, by a total station, in particular located outside the construction robot 10, so that the position and / or location of the reflective element 40 and thus the position and / or location of the fastening device 30 relative to an environment-related origin can be determined.

[0064] The control unit 38 can be configured to obtain position and / or location data from such a total station and, in conjunction with the determined relative position and / or location of the end effector 16 relative to the fastening device 30, to determine an absolute position and / or location of the end effector 16 and thus also taking into account the position of the lifting device 22, a position and / or location of the marking pin 20 relative to the total station, to the ceiling 100 and / or to another fixed reference system of the construction site.

[0065] The control unit 38 can include a microcontroller. In particular, it can have a microprocessor and program code executable on the microprocessor and stored in a memory unit of the control unit 38.

[0066] In order to achieve the greatest possible self-sufficiency of the end effector platform 14, the end effector platform 14 can also have an energy source independent of the mobile platform 12, for example a rechargeable battery.

[0067] The control unit 38, the camera 34 and the localization marker 36 form an optical sensor system that is set up to detect a position and / or orientation of the end effector 16 relative to the mobile platform 12.

[0068] The end effector 16 can also be equipped with an accelerometer, for example one measuring three dimensions. 42 exhibit (in Fig. 2 (only schematically represented). Thus, accelerations of the end effector 16 can be measured. Using the measured accelerations, the determination of the position and / or orientation of the end effector 16, and therefore of the marker 20, can be further improved, particularly by the control unit 38.

[0069] Fig. 4 Figure 1 shows another construction robot 10. In this embodiment, the construction robot 10 has a mobile platform 12 in the form of a movable platform, in particular a chassis designed as a tracked chassis.

[0070] In a case 44 is a (in Fig. 4 (control room, which can only be represented schematically) 46 The housing 44 is designed as a multi-axially controllable arm, at the free end of which is an end effector 16 with a tool, in particular in the form of a drilling machine. 48 and a dust extraction device 50, is arranged. To increase the reach, the manipulator 18 has a lifting device 22 with which the remaining part of the manipulator 18 can be moved vertically.

[0071] The construction robot 10 is not limited to this configuration. In particular, instead of or in addition to the drilling machine 48, it can include one or more other electric machine tools and / or one or more further devices for performing construction tasks, especially inspection tasks, a measuring tool such as an image sensor and / or a length measuring device, for example a time-of-flight distance meter or a LIDAR, a cutting tool, a drilling tool, a grinding tool or another tool suitable for performing construction tasks.

[0072] The construction robot 10 is designed to perform construction tasks, in particular drilling work in ceilings and walls, on a construction site, for example, on a building construction site. In addition to the manipulator 18 for performing the construction tasks assigned to the construction robot 10, it has a control unit 38 arranged within the housing 14, in particular in the control compartment 16. The control unit 38 comprises a microcontroller. 52.

[0073] The control unit 38 is equipped with executable program code 56 equipped, which is in a storage unit 54 The microcontroller 52 is stored in an executable format.

[0074] The program code 56 is configured such that, when the program code 56 is executed on the microcontroller 52, the construction robot 10 performs a calibration of the manipulator 18 according to the procedure associated with Fig. 6 carries out the described procedure.

[0075] The control unit 38 also has a communication interface 58 for communication with a remote computer system.

[0076] Since the control unit 38, the microcontroller 52 with the memory unit 54 and the program code 56 and the communication interface 58 are arranged in the control chamber 46 and thus within the housing 44, these, including the control chamber 46, are in Fig. 4 only shown schematically.

[0077] Furthermore, the construction robot 10 has a display unit 60 The display unit 60 is designed as a touchscreen. It is connected to the control unit 38. The control unit 38 can be operated via the display unit 60. Alternatively or additionally, the control unit 38, and thus the construction robot 10, can also be remotely controlled, in particular via the communication interface 58.

[0078] A localization marker 36 is arranged on the end effector 16, preferably rigidly relative to the drilling machine 48. The localization marker 36 can be described above in connection with Fig. 3 correspond to the described localization designation 36.

[0079] A reflective element 40 corresponding to the previously described reflective element is also arranged on the end effector 16. It is also conceivable that the localization marker 36 is designed as part of and / or in the same way as the reflective element 40.

[0080] A camera 34 is arranged on the mobile platform 12. It is configured, in particular arranged and / or equipped with a field of view such that the localization marker 36 is in the field of view of the camera 34 at least in at least two different, preferably in all possible, positions of the manipulator 18.

[0081] The camera 34 and the localization marker 36 thus form an optical sensor system that is at least partially (because of the camera 34) arranged on the mobile platform 12. 62, which is set up to detect a position and / or orientation of the end effector 16 relative to the mobile platform 12.

[0082] Using image data collected with the camera 34 and by means of the program code 56 and using the optical sensor 62, the control unit 38 can thus determine a position and / or a location of the manipulator 18 or the end effector 16, in particular of a tool arranged on the manipulator 18, here the drilling machine 48, relative to the mobile platform 12.

[0083] The position of the mobile platform 12 can be determined using a position sensor in the form of an accelerometer. 42Determine. In particular, angular data such as roll, pitch or yaw angles of the mobile platform 12 can be measured using the accelerometer 42.

[0084] The program code 56 and thus the control unit 38 are set up to modify calibration data as needed using these angle data from the accelerometer 42 and / or to correct the control of the manipulator 18 to achieve a desired position.

[0085] The construction robot 10, in particular the manipulator 18, also features non-optical sensors. 64 on. This is also in Fig. 4 It is shown only schematically. It is designed to measure the positions and changes in position of the joints of the manipulator 18 and its lifting device 22.

[0086] The program code 56, and thus the control unit 38, are configured to determine at least one position and / or orientation of the manipulator 18 and / or drilling machine 48, also using the non-optical sensor 64. Therefore, it is conceivable, particularly when there is a line of sight between the localization marker 36 and the camera 34, to calibrate the determination by the non-optical sensor 64 using the optical sensor 62. For example, to carry out construction work, the manipulator 18 can then be controlled by the control unit 38 using data from the calibrated non-optical sensor 64.

[0087] Fig. 5 Figure 10 shows another construction robot with a mobile platform 12. Unless otherwise described below, this embodiment can be modified from the embodiment described above. Fig. 4 are equivalent to.

[0088] With this construction robot 10, at least for the calibration of the manipulator 18, one can rely on the accelerometer 42 ( Fig. 4 ) corresponding acceleration sensor can be dispensed with, while still achieving a high calibration quality.

[0089] This can be seen in Fig. 5 an external location identifier 66. The external localization identifier 66 can also include one or more registration marks, for example in the form of AruCo markers. Three registration marks are shown as an example. A, B, C shown.

[0090] The external localization marker 36 is arranged separately from the construction robot 10. It can, for example, be attached to a ceiling. 100a construction site where the construction robot 10 is to be used. In principle, the external localization marker 66 can have one or more of the features of the localization marker 36. Preferably, the external localization marker 66 is considerably larger. For example, it can have dimensions on the order of 10° x 10° m², whereas the localization marker 36 can have dimensions on the order of, for example, 10° x 10° cm².

[0091] Both the localization marker 36 and the external localization marker 66 are preferably located within the field of view of the camera 34. The camera 34 can thus acquire initial image data. 68 the localization marker 36 and second image data 70 Record the external location identifier 66.

[0092] Schematically, in Fig. 5further shown that the manipulator 18 together with the end effector 16 can be moved into different positions I, II, III can be controlled, whereby the localization marker 36 and the external localization marker 66, which is stationary relative to the environment of the construction robot 10, remain in the field of view of the camera 34.

[0093] This construction robot can also be calibrated using the manipulator 10 and, in particular, its non-optical sensor technology 64, according to the procedure described below.

[0094] This shows Fig. 6 a procedure 1000 For the calibration of a construction robot of the type described above. Procedure 1000 is explained in more detail below with reference to the reference numerals introduced above.

[0095] The procedure will be demonstrated using the example that the manipulator 18 of the construction robot 10 has been replaced and therefore there are manufacturing tolerances to be calibrated between measured values ​​of the non-optical sensor 64 or associated desired positions of the manipulator 18 and the actual positions and / or orientations of the manipulator 18.

[0096] Alternatively or additionally, it is also conceivable that the calibration can be carried out not only with regard to the position of the actual manipulator 18, but also or alternatively, for example, with regard to the position of a tool which is arranged on the manipulator 18 by means of the end effector 16, for example with regard to the drilling machine 48.

[0097] For example, it is further assumed that only three positions, in particular positions I, II and III, are used for calibration.

[0098] During a measurement phase 1010is done successively using positioning movements 1012 the manipulator 18 was moved into one of the positions I, II or III, in particular one that has not been used before.

[0099] Upon reaching the respective position I, II or III, a determination is made. 1014 the position and orientation of the manipulator 18 relative to the mobile platform 12 using the optical sensors 62. In addition, the measured values ​​of the (to be calibrated) non-optical sensors 64 are recorded in each of the positions I, II or III.

[0100] This process is repeated until all positions to be analyzed, in this example a total of three positions, have been approached in this way and their position and location have been determined.

[0101] To determine 1014, initial image data 68 of the localization marker 36 can be recorded by the camera 34. This initial image data 68 can then be evaluated by the control unit 38 using image processing, thereby obtaining distance and orientation data for the location and position of the localization marker 36 relative to the camera 34. This allows for the acquisition of data on the location and position of the manipulator 18 relative to the mobile platform 12. To determine absolute distances and angles, known distances, such as specific dimensions, of the localization marker 36 can be used as the basis for estimation. For example, the localization marker 36 can first be identified using a suitably trained deep learning algorithm.From the manner of perspective distortion of the representation of the localization marker 36 within the first image data 68, a relative position and a relative distance to the camera 34 can then be derived. From these, in turn, the desired distance and orientation data can be derived.

[0102] If a position sensor is available, its measurement data can be recorded during determination 1014.

[0103] If an external localization marker 66 is available, the camera 34 can also collect second image data 70 in which the external localization marker 66 is represented. It is conceivable that, if both the localization marker 36 and the external localization marker 66 are already represented to a sufficient extent in the first image data 68, the first image data 68 could also be used as the second image data 70. The evaluation of the second image data 70 can then be carried out analogously to the evaluation of the first image data 68, but only with regard to the external localization marker 66.

[0104] In a subsequent analysis 1020 The collected position and orientation data from the optical sensor 62 on the one hand and the non-optical sensor 66 on the other are then compared. The desired calibration data can subsequently be derived from this comparison.

[0105] If angle data from the position sensor are available, they can be integrated into the calibration data to additionally compensate for corresponding tilting movements of the mobile platform 12 during subsequent control of the manipulator 38.

[0106] If an external localization marker 66 is used, angular data for tilting movements occurring during calibration can also be determined by evaluating deviations in the relative positions and locations of the external localization marker 66, i.e., between different sets of second image data 70. This data can also be used for additional compensation of tilting movements of the mobile platform 12.

[0107] The acquired calibration data can later be used to modify the control of the manipulator 18 based on measurements from the non-optical sensor 64. In particular, the control can be modified so that a target position achieved using the non-optical sensor 64 corresponds to the actually desired position based on measurements from the optical sensor 62 as the "ground truth". In other words, the calibration data can then be used to compensate for previously determined manufacturing tolerances.

[0108] In one variant of method 1000, it is also conceivable to successively move the manipulator 18 to specific positions, where the positions correspond to certain constellations with respect to the external localization marker 66. Such constellations could, for example, involve a tool tip of the drilling machine 48 touching one of the register marks A, B, or C in a specific manner. To move to these positions, the tool tip can be monitored using the camera 34, and the manipulator 38 can be controlled accordingly by the control unit 38 using continuous image processing until the desired constellation is detected by such optical monitoring. The position and orientation of the manipulator 18 can then be determined based on the measured values ​​supplied by the non-optical sensor 64.Based on defined distances and / or geometries of the constellations, in particular the registration marks, to each other and by comparison with the associated measured values ​​of the non-optical sensor technology 64, deviations can then be determined and calibration data can be derived from them. Reference symbol list

[0109] 10 Construction robot 12 Mobile platform 14 End effector platform 16 End effector 18 Manipulator 20 Marker pen 22 Lifting device 24 Contact element 26 Motor 28 Support arm 30 Mounting device 32 Lighting 34 Camera 36 Localization marker 38 Control unit 40 Reflector element 42 Accelerometer 44 Housing 46 Control room 48 Drilling machine 50 Dust extraction device 52 Microcontroller 54 Storage unit 56 Program code 58 Communication interface 60 Display unit 62 Optical sensors 64 Non-optical sensors 66 External localization marker 68 First image data 70 Second image data 100 Ceiling 1000 Procedure 1010 Measurement phase 1012 Positioning movement 1014 Determination 1020 Analysis A, B, C Register mark I, Position II, III

Claims

1. Method (1000) for calibrating a construction robot (10), comprising a mobile platform (12) and a manipulator (18) which is movable relative to the mobile platform (12), and an optical sensor system (62) arranged and / or formed at least partly on the mobile platform (12), and a control unit (38) which is configured to determine, using the optical sensor system (62), a position and / or orientation of the manipulator (18), in particular a tool arranged on the manipulator (18), relative to the mobile platform (12), wherein calibration data are generated for calibrating adjustment movements (1012) of the manipulator (18), in that the manipulator (18) is brought into at least one first and then a second situation (I, II, III), and when the respective situation (I, II, III) has been reached, in each case at least one position and / or orientation of the manipulator (18), in particular a tool arranged on the manipulator (18), relative to the mobile platform (12) is determined using the optical sensor system (62) at least partially arranged and / or formed on the mobile platform (12) of the construction robot (10).

2. Method according to the preceding claim, characterized in that at least one of the positions and / or orientations is determined in that first image data (68) of a location marking (36) arranged and / or formed on the manipulator (18), and second image data (70) of an external location marking (36) arranged and / or formed in a vicinity of the construction robot (10), in particular from the mobile platform (12), are recorded and evaluated.