CONSTRUCTION ROBOT WITH INTERCHANGEABLE INTERFACE, PARTS SYSTEM AND METHOD FOR ARRANGEMENT OF A PARTS SYSTEM AT THE INTERFACE

Description

[0001] The invention relates to a construction robot, in particular for carrying out building construction work, comprising a manipulator and an exchange interface located on the manipulator, which is designed for the detachable arrangement of a tool.

[0002] To complete complex construction projects, a variety of tools are often required. This is even more true when the construction tasks are to be carried out with the help of a construction robot. For example, to position a building element on a ceiling, you can first use a marking tool to mark on the ceiling where the building element should be positioned and / or where, for example, holes for fasteners should be drilled. These holes can then be drilled using a drilling tool. After that, the required fasteners can be inserted using a setting tool. Finally, the building element can be mounted to the fasteners using an assembly tool.

[0003] To enable the assembly and use of different elements, such as tools, on the construction robot, the construction robot has a removable interface. The removable interface is configured for the detachable arrangement of at least one tool. The tools to be assembled can have a connecting section complementary to the removable interface. Such a construction robot with a removable interface for the detachable arrangement of a tool is known from EP 4 016 212 A1.

[0004] Due to the harsh environmental conditions on a construction site, especially a building construction site, such interchangeable interfaces are often subject to significant wear. Dust, dirt, or similar contaminants can also hinder proper installation of the element at the interchangeable interface.

[0005] It poses a particular safety risk if an element is not properly mounted on the interface. For example, it's conceivable that the element could accidentally detach and fall, causing damage. In the worst case, people could even be injured.

[0006] The object of the present invention is therefore to provide means and methods that enable a construction robot to use different elements safely.

[0007] The task is solved by a construction robot according to claim 1.

[0008] This makes it possible to check the change interface for any safety risks before, during and / or after assembly and / or disassembly of a tool to or from the change interface.

[0009] This also enables ongoing testing of the exchange interface, so that failures of the construction robot can be avoided and the construction robot can achieve high system availability.

[0010] For example, the interface can be checked for dust or dirt before installing the element. If such a safety risk is detected, a warning signal can be issued, the safety risk can be eliminated, for example, by removing dirt, and / or other measures can be taken to indicate and / or mitigate the safety risk.

[0011] "Tool" can also be understood to include electrical machine tools such as machines for drilling, cutting, for example, saws or angle grinders, grinding, marking, measuring, or the like. In particular, this includes tools for processing stone, for example, concrete.

[0012] The changeover interface is located on the manipulator. Depending on the tool located at the changeover interface, different construction work can be performed with the help of the manipulator at different positions and / or in different orientations.

[0013] It is particularly advantageous to use such a construction robot on building construction sites to carry out construction work.

[0014] While civil engineering construction sites offer the option of establishing restricted zones that are off-limits to personnel during construction work, this option is often non-existent or very limited on building construction sites. Furthermore, a greater variety of different elements, particularly tools, is often used on building construction sites than on civil engineering sites. Element replacement is often required more frequently. The likelihood of inadequate coupling of elements at the interface, and thus the need to mitigate such safety risks, can therefore be higher on building construction sites than on civil engineering sites.

[0015] The construction robot may have at least one storage magazine configured to provide at least one tool for use by the construction robot.

[0016] The storage magazine can preferably be configured to provide the tool for placement at the change interface. For this purpose, the storage magazine can be arranged on the construction robot such that the change interface can be brought closer to a tool held in the storage magazine, particularly with the aid of the manipulator. The storage magazine can preferably have multiple receiving locations. Different tools required for a construction task can then be accommodated in the receiving locations. Particularly after a tool has been used, it is also conceivable for the tool no longer required to be deposited in one of the receiving locations of the storage magazine and removed from the change interface.

[0017] The inspection device may comprise an optical inspection component. The optical inspection component may comprise an image capture unit, for example, a color camera, a black-and-white camera, and / or a 3D camera. The optical inspection component may be configured to capture optical data from the exchange interface. The optical inspection component may be arranged on the manipulator and / or on a mobile platform of the construction robot.

[0018] The inspection device can also include a light source. This allows for standardized recording conditions during the acquisition of the optical data. This can facilitate subsequent evaluation of the optical data. It is also conceivable for the light source to be configured to project at least one pattern onto the interchangeable interface. This allows, for example, stripe light images from which depth information can be derived to be recorded.

[0019] It is also conceivable that an existing image recording unit is used as an optical test component. For example, it is conceivable that the construction robot already has an image recording unit on the manipulator. Such an image recording unit can then serve as the optical test component of the test device. In this case in particular, it can be advantageous if a light-guiding unit, for example a mirror, is arranged on the construction robot. The manipulator can then be positioned in such a way that the image recording unit arranged on it records the optical data of the exchange interface, which is in particular also arranged on the manipulator, via the mirror. By using the same image recording unit multiple times in this way, the manufacturing costs of the construction robot can be reduced. In addition, the mass to be moved by the manipulator and thus the associated inertia can be kept low.

[0020] To evaluate the optical data, the construction robot can have image processing logic configured to receive the optical data, in particular image data, from the optical inspection component and to determine at least one quality characteristic of the interchangeable interface from the optical data. The quality characteristic can, for example, correspond to sufficient freedom from dust, dirt, and / or signs of wear such as breakage or abrasion. In general, the quality characteristic can correspond to sufficient conformity of the optical data with previous and / or standardized optical data of the interchangeable interface. In other words, the quality characteristic can be configured to indicate whether any deviations of the interchangeable interface from a target are within a defined range.The quality feature can refer to the entire exchange interface or only to a part of the exchange interface.

[0021] It is also conceivable that the image processing logic is implemented, at least in part, on a remote computer system, particularly a cloud-based computer system. Then, by collecting optical data from multiple construction robots, the analysis of the optical data can be continuously improved.

[0022] Alternatively or additionally, the construction robot can also be configured to determine at least one quality characteristic of the storage magazine. For this purpose, the optical inspection component can also be configured to capture optical data from the storage magazine. Thus, safety risks of the storage magazine due to dust, dirt, wear, incorrectly picked up elements in a pick-up location, or the like can be additionally detected. Particularly preferably, provision can be made for the same image acquisition unit to be used as the inspection component.

[0023] It is also conceivable for the testing device to include a mechanical testing component. This enables a mechanical test using a mechanical property of the tool interface, for example a force and / or pressure, in particular a maximum holding force, a tensile stress and / or contact pressure, an elongation, a distance, or the like. Such a mechanical test can be performed alternatively or in addition to a visual test. It can be particularly advantageous that such a test using the mechanical testing component can assess different safety risks than is possible with a visual test.

[0024] In particular, it is conceivable that the mechanical test component is configured to generate a mechanical resistance force, so that an element held in the storage magazine can only be removed against this resistance force. The resistance force can correspond to a minimum required holding force. Preferably, the resistance force can exceed the weight of the element held in the storage magazine.

[0025] For different types of elements to be accommodated in the storage magazine, the resistance force may be greater than the maximum weight force of all expected types of elements to be accommodated. In particular, the resistance force may be at least twice the weight force.

[0026] This ensures that the element can only be removed from the supply magazine once the resistance force can be compensated or overcompensated. If the removal occurs in such a way that the element is coupled to the exchange interface and then the exchange interface is moved away from the supply magazine, for example, with the help of the manipulator, it can be ensured that the element is positioned at the exchange interface with a maximum holding force that at least corresponds to the resistance force.

[0027] Thus, the mechanical test component allows for direct verification of the element's sufficiently tight fit at the interface. Correct fit can be ensured, in particular, before the element, such as a tool, is used to carry out construction work.

[0028] The mechanical test component can be formed by a part of the supply magazine, the manipulator and / or the mobile platform.

[0029] The resistance force can be generated magnetically. For this purpose, the test component can have a magnet. For example, a magnet can be arranged at a receiving point in the supply magazine. The element can have a magnetizable area. While the element is held in the receiving point, the magnetizable area can be attracted to the magnet with a magnetic force corresponding to the resistance force. To remove the element from the receiving point, the magnetic force and thus the resistance force, possibly plus the weight of the element, must be overcome.

[0030] Alternatively or additionally, it is also conceivable for the test component to have a locking mechanism. The locking mechanism can be configured so that unlocking is possible by applying a minimum release force. In this case, the minimum release force can form the aforementioned resistance force.

[0031] Another advantage is that the mechanical test component requires no additional electrical component, especially no additional sensor, no power supply, and no data lines for its own power supply. Testing of the exchangeable interface can be carried out particularly easily and automatically during and, in particular, upon successful removal of the element.

[0032] Alternatively or in addition to at least one of the test components described above, the test device can comprise an electrical test component. In particular, the electrical test component can be configured to detect an electrical quality characteristic of the interchangeable interface. If the interchangeable interface is configured, for example, for the transmission of electrical energy and / or data, the electrical test component can be configured to test a current flow through electrical lines used for transmission. An electrical resistance or the like can also be tested as a quality characteristic.

[0033] Such an electrical test can easily be performed multiple times. For example, such an electrical test can be used to continuously monitor, especially during construction work, whether an element located at the interface is correctly electrically connected to the interface. This can then indicate whether the element is correctly seated at the interface.

[0034] The scope of the invention also includes a parts system,comprising a tool, wherein the tool has a connecting section designed for detachable connection to the interchangeable interface of a construction robot of the type described above. Such a parts system can be detachably arranged on the interchangeable interface, for example, after testing the interchangeable interface. Due to the possibility of testing, safety risks, such as unintentional detachment of the element from the interchangeable interface, can be reduced or avoided.

[0035] The parts system and / or the construction robot can comprise a connecting section inspection device configured for quality inspection of the connecting section. The connecting section inspection device preferably comprises an optical, an electrical, and / or a mechanical inspection component, in particular according to one of the types described above.

[0036] Accordingly, the scope of the invention also includes a construction robot comprising a parts system and a connecting section inspection device, which is set up to check the quality of the connection section.

[0037] Using the connecting section testing device, a quality characteristic of the connecting section can be tested. Depending on the quality characteristic determined, appropriate measures can be initiated as needed. This also helps reduce safety risks when using the element on a construction robot.

[0038] It is conceivable that the connecting section inspection device is located at least partially on the manipulator, on the mobile platform, and / or on the supply magazine. The connecting section inspection device can correspond to the inspection device, be at least a part of the inspection device, and / or use part of the inspection device.

[0039] Furthermore, the invention also relates to a Proceedings according to claim 9.

[0040] The inspection can be performed before, during, and / or after assembly. Multiple inspections are also conceivable. Depending on the results of the inspection, appropriate measures can then be taken. For example, if incorrect assembly of the element at the interchangeable interface is detected, the assembly can be attempted repeatedly until the element is correctly installed. This also helps reduce safety risks.

[0041] The method may provide for at least one test to be performed using a mechanical test component and at least one test to be performed using an optical test component, so that different types of safety risks and / or comparable safety risks can be identified with greater probability and subsequently mitigated. For example, the extent of wear on the tool interface may first be visually inspected; then, a mechanical test of the fit of the received element at the tool interface may be performed.

[0042] It is also conceivable for the inspection to be carried out using an optical inspection component, with the interchangeable interface being placed in at least two different positions relative to the optical inspection component. During subsequent evaluation of recorded optical data, this can facilitate the differentiation of foreground and background data. In general, it can support the evaluation of the optical data.

[0043] The method may also include a quality characteristic of the supply magazine, for example an indicator of wear, abrasion and / or presence or absence of a tool and / or component.

[0044] It is particularly conceivable to provide for the exchange interface, a parts system and / or the supply magazine to be inspected using one and the same image recording unit.

[0045] The construction robot can be configured to perform construction work on a building construction site. It can be configured to perform construction work on a ceiling, a wall, and / or a floor. It can be configured to mark, drill, cut, chisel, grind, and / or set a building element; in particular, corresponding tools can be detachably mounted on it.

[0046] The construction robot has a manipulator. The construction robot can have a mobile platform. The manipulator can be arranged on the mobile platform.

[0047] The manipulator can be designed as a robot arm. The manipulator can also have a lifting device. The lifting device can increase the total volume accessible to the manipulator. The manipulator can have at least three degrees of freedom. In particular, it can have at least six degrees of freedom.

[0048] The mobile platform can comprise a wheeled chassis and / or a tracked chassis. The mobile platform can have at least two degrees of freedom. The construction robot can have at least ten degrees of freedom in total.

[0049] The image processing logic can be implemented as a computer unit and / or be part of a computer unit. The computer unit can have a processor, a memory unit, and / or program code executable on the processor. The processor can have one or more subprocessors. The program code can be configured to execute the described method on the construction robot.

[0050] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen.

[0051] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description. They show:

[0052] Fig. 1 shows a construction robot in perspective view; Figs. 2 and 3 show side views of a manipulator with a change interface, with which a tool is to be removed from a storage magazine containing a mechanical test component; Figs. 4 and 5 show top views of a connecting section and a change interface, both of which exhibit wear; Figs. 6 and 7 show a manipulator, a change interface, a storage magazine, and a test device in perspective view; and Fig. 8 shows a method.

[0053] 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.

[0054] Fig. 1 shows a construction robot 10 with a tracked chassis 12, one in a housing 14 trained control room 16and a manipulator arranged on top of the housing 14 18. The manipulator includes a lifting device 17 for vertical displacement and a multi-axial controllable arm 19.

[0055] At the free end of the arm 19 there is an end effector 20 with an interchangeable interface 21.

[0056] At the exchange interface 21 there is a tool 24, in particular a rock drilling machine tool with a dust extraction device 26, arranged.

[0057] In order to detachably arrange the tool 24 on the change interface 21, it has a connecting section 22 The exchange interface 21 is designed for the detachable connection of the connecting section 22 and thus also of the tool 24.

[0058] The manipulator 10 may also comprise further devices, for example a prism, a paint sprayer, a distance meter, a position and / or attitude determination logic, a camera and / or the like, even if these are not shown in the figure for the sake of simplicity. Fig. 1 are not shown.

[0059] The construction robot 10 is designed to carry out construction tasks, for example drilling work in ceilings and walls, on a construction site, in particular on a building construction site.

[0060] Furthermore, the construction robot 10 has a supply magazine 100 The supply magazine 100 has several storage locations 102 Elements such as tools, for example tool 24, and / or components required for construction tasks to be carried out can be stored at the storage locations 102.

[0061] In addition to the manipulator 18 for carrying out the construction tasks assigned to the construction robot 10, the construction robot 10 has, in particular within the housing 14, a computer unit arranged in the control room 16 27 The computer unit 27 comprises a memory unit 28.

[0062] The computer unit 27 is equipped with executable program code. The program code can be stored in the memory unit 28 in a retrievable and executable manner. It can be configured to control the manipulator 18 so that one of the elements of the supply magazine 100, in particular from one of the storage locations 102 of the supply magazine 100, is picked up and / or deposited there.

[0063] Furthermore, the construction robot 10, in particular on the supply magazine 100, has a testing device 104 The test device 104 is designed for quality testing of the exchange interface 21. For this purpose, it has an optical test component 106The optical test component 106 comprises an image recording unit in the form of a color camera. It can, for example, be oriented vertically upwards so that it can record images of the exchange interface 21 when the end effector 20 is in a position above the optical test component. 106 current position. An image processing logic 108, The image processing logic 108 is configured to compare one or more of the images with target representations of the exchange interface and to identify possible errors, such as signs of wear, dust, or the like, and is implemented in the computer unit 27, particularly with the aid of the program code. The image processing logic 108 is part of the testing device 104.

[0064] In the following described Fig. 2 to Fig. 7Components of alternative embodiments are described. Unless otherwise stated, these components can be used on the construction robot 10 as an alternative to the corresponding components of the previously described construction robot. It is particularly conceivable to use different types of the alternative components described below in combination with a construction robot 10.

[0065] Fig. 2 and 3 show a schematic representation of a supply magazine 100 with a storage location 102.

[0066] An element, in particular a tool 24, is arranged at the storage location 102.

[0067] The tool 24 has a connecting section 22 for detachable connection to an exchange interface 21 arranged on an end effector 20 of a manipulator 18. The connecting section 22 has a magnetizable plate, for example, made of magnetizable steel.

[0068] The tool 24 and the connecting section 22 form a parts system 50

[0069] A mechanical test component is installed on the supply magazine 100 106a The mechanical test component 106a has a magnet 107 The magnet 107 generates a Fig. 2 or Fig. 3 In the case shown, downward resistance force FW, with which the tool 24 in addition to its weight FG is held in the storage location 102. To pick up the tool 24, the manipulator 18 must therefore apply a release force FLwhich corresponds at least to the sum of the resistance force FW and the weight force FG and is directed opposite to the resultant of these two forces FW, FG. The change interface 21 is configured such that, with proper arrangement of the element, i.e., the tool 24, at least the required release force can be transmitted to the change interface 21, so that, with proper arrangement, the tool 24 can be successfully removed from the storage location 102.

[0070] If the end effector 20 is thus moved vertically upwards, whereby at least the release force FL is generated, the tool 24 or the part system 50 can be removed from the storage location 102.

[0071] Fig. 3 shows a Fig. 2 corresponding situation, but with the difference that the exchange interface 21 is covered by dust 110is dirty. The tool 24 can therefore not be properly coupled to the change interface 21 via its connecting section 22. In particular, the required release force FL can no longer be transmitted via the change interface 21 to the connecting section 22.

[0072] If the end effector 20 is thus moved vertically upwards, the connecting section 22 detaches from the change interface 21. The tool 24 or the part system 50 cannot therefore be removed from the storage location 102.

[0073] The tool 24 thus remains at the storage location 102, which in turn reduces or even avoids safety risks, for example due to unintentional detachment of the connecting section 22 from the exchange interface 21 during the execution of construction work.

[0074] Fig. 4 and 5 show plan views of a connecting section 22 ( Fig. 4 ) and a change interface 21 ( Fig. 5), both of which show wear. For clarity, wear-affected areas are shown in Fig. 4 and Fig. 5 highlighted with ellipses.

[0075] Such wear can be identified with the help of optical inspection components, examples of which are explained in more detail below.

[0076] Fig. 6 shows a manipulator 18 with an end effector 20, on which a change interface 21 is formed. A testing device 104 is arranged on a supply magazine 100 with several storage locations 102.

[0077] The inspection device 104 has an optical inspection component 106. The optical inspection component 106 includes, among other things, a color camera.

[0078] Fig. 6 shows a schematic field of view 112 the optical test component 106. In the Fig. 6In the position of the manipulator 18 shown, the optical inspection component 106 can thus record images of the exchange interface 21. These images can be analyzed in an image processing logic of the inspection device 104, for example, as described above, so that any safety risks can be identified.

[0079] Fig. 7 shows a further manipulator 18 with an end effector 20, on which, in addition to an exchange interface 21, a further optical test component 106 is mounted, which corresponds to the previously described optical test component 106 according to Fig. 6 can correspond, is arranged.

[0080] The optical inspection component 106 includes a color image camera.

[0081] In the Fig. 7 In the position of the manipulator 18 shown, the field of view 112 of the optical test component 106 includes a connecting section 22 of a tool 24 located at a storage location 102.

[0082] A connecting section testing device 114 is by the optical test component 106 together with a computer unit 27 (see Fig. 1 ). For this purpose, the computer unit 27 is configured to analyze images provided by the optical inspection component 106 with regard to deviations of the connecting section 22 from a desired connecting section and thereby identify any safety risks when connecting the connecting section 22 to the exchange interface 21.

[0083] The tool 24 and its connecting section 22 in turn form a parts system 50.

[0084] Fig. 8 shows a process 1000 for arranging a parts system at a change interface of a construction robot of the type described above.

[0085] The procedure 1000is explained in more detail with reference to the previously introduced reference numerals for components of the construction robot 10. By way of example, the construction robot 10 on which the description is based should have a test device 102 with a mechanical test component 106a according to Fig. 2 and Fig. 3 and a connecting section test device 114 with an optical test component 106 according to Fig. 7 have.

[0086] In a first phase of the procedure 1010 The connecting section 22 of the tool 24, and thus also of the part system 50, is checked for deviations from the target. In particular, the connecting section 22 is checked for a quality characteristic regarding the presence of contamination such as dust. In the event of an error, error handling is carried out. 1040.

[0087] First, in a coupling phase 1020The change interface 21 is moved to the connecting section 22 of the part system 50 with the aid of the manipulator 18. The change interface 21 is coupled to the connecting section 22 and thus arranged on the part system 50, in particular on the tool 24.

[0088] In a subsequent testing phase 1030 A check is carried out to determine whether the tool 24 is properly coupled. For this purpose, the manipulator 18 and thus the change interface 21 are moved away from the supply magazine 100. During this time, the release force FL is measured.

[0089] If the release force FL falls below a minimum release force to be expected depending on the resistance force FW and the type of tool, this indicates an improper coupling of the connecting section 22 or the tool 24 to the change interface 21. In this case, error handling 1040 also occurs.

[0090] Error handling 1040 can be structured in several stages. In particular, it can include a first error handling step, in which an attempt is first made to clean the exchange interface 21 or the connecting section 22 using a cleaning device, for example, a brush roller.

[0091] If a subsequent test fails again, a second error handling can be provided, during which an indication signal is sent to a user of the construction robot 10 in order to manually correct the error.

[0092] It is conceivable, for example for documentation purposes, to store at least one of the test results in a memory and / or to transfer it to another computer unit, for example to a cloud-based computer unit, for storage and / or further processing there.

[0093] It is also conceivable to perform additional tests. For example, an electrical test of an electrical resistance can be performed to check whether one or more electrical connections between the changeover interface 21 and the connecting section 22 are properly established.

[0094] If the two tests in phases 1020 and 1030 are successful, an execution phase 1050 a desired construction task is carried out with the tool 24 then located at the change interface 21.

[0095] For example, one or more boreholes can be drilled with the tool 24 designed as a rock drilling machine.

Claims

1. Construction robot (10), in particular for carrying out construction work in building construction, comprising - a manipulator (18), - a changeover interface (21) which is situated on the manipulator (18) and is configured for releasable arrangement of at least one tool (24) on the manipulator (18), and - a testing device (104) which is configured for detection of wear, dust, dirt on the changeover interface (21) and / or the tool (24) and / or incorrect fit of a tool (24) arranged on the changeover interface (21) and for emitting a warning signal upon detection.

2. Construction robot according to the preceding claim, characterized in that the construction robot (10) has at least one storage magazine (100) which is configured to provide at least one tool (24) for use by the construction robot (10), wherein preferably the storage magazine (100) is configured to provide the element for arrangement on the changeover interface (21).

3. Construction robot according to either of the preceding claims, characterized in that the testing device (104) comprises an optical testing component (106).

4. Construction robot according to one of the preceding claims, characterized in that the construction robot (10) has image-processing logic which is configured to receive optical data, in particular image data, from the optical testing component (106) and to determine at least one quality feature of the changeover interface (21) from the optical data.

5. Construction robot according to one of the preceding claims, characterized in that the testing device (104) comprises a mechanical testing component (106a).

6. Construction robot according to one of the preceding claims, characterized in that the mechanical testing component (106a) is configured to generate a mechanical resistance force (FW) so that an element held in the storage magazine (100) can be removed only counter to the resistance force (FW).

7. Construction robot according to one of the preceding claims, characterized in that the testing device (104) comprises an electrical testing component.

8. Parts system (50) comprising - a tool (24), wherein the tool (24) has a connecting portion (22) which is configured for releasable connection to the changeover interface (21) of a construction robot (10) according to one of the preceding claims.

9. Method (1000) for arranging a parts system (50) according to the preceding claim on a changeover interface (21) of a construction robot (10) according to one of Claims 1 to 7, at least comprising the steps of: a) detecting wear, dust, dirt on the changeover interface (21) and / or the tool (24) and / or incorrect fit of a tool (24) arranged on the changeover interface (21), and b) arranging the parts system (50) on the changeover interface (21).

10. Method according to the preceding claim, wherein at least one test is carried out by means of a mechanical testing component (106a) and at least one test is carried out by means of an optical testing component (106).

11. Method according to either of the two preceding claims, characterized in that a test is carried out by means of an optical testing component (106), wherein the changeover interface (21) is moved into at least two different positions relative to the optical testing component (106).