Construction robot with adjustable Wi-Fi interface

Description

[0001] The invention is based on a construction robot comprising an interchangeable interface for detachable connection to a tool, wherein the interchangeable interface has at least one electrical connection for electrical connection to the tool.

[0002] The tool can be supplied with energy by the construction robot, for example, via the electrical connection.

[0003] However, to date it has only been possible to use a construction robot with tools that are specifically adapted to the construction robot or specifically selected for the construction robot.

[0004] For example, the document US20180290311A1 describes a robot on whose robot arm end effectors can be arranged interchangeably.

[0005] The disclosure WO2022 / 137017A1 discloses an industrial robot on which a tool can be exchangeably arranged.

[0006] A wider selection of usable tools would be desirable.

[0007] Given the high acquisition costs for a construction robot compared to the tools, it would be particularly desirable to be able to use the construction robot for as long as possible and, in particular, to be able to use a wide range of future tools with the construction robot, tools that may not even be available at the time of production of the construction robot.

[0008] The object of the present invention is therefore to provide a construction robot and a method for use which enable a particularly flexible use of the construction robot.

[0009] The task is solved by a Construction robotscomprising an interchangeable interface for detachable connection to a tool, wherein the interchangeable interface has at least one electrical connection for electrical connection to the tool, wherein the construction robot is configured to adjust at least one electrical parameter of the connection, an energy source, wherein a controllable energy converter is configured to convert the electrical energy available from the energy source with regard to its type, in particular direct voltage or alternating voltage, with regard to its voltage, its current and / or an internal resistance in accordance with the electrical parameter of the tool.

[0010] The idea behind this is that different tools can differ in terms of electrical parameters.

[0011] If the electrical parameter is fixed on the exchange interface, only tools that require a corresponding electrical parameter can be used with the construction robot.

[0012] However, following the inventive concept, a particularly wide range of tools can now be used, especially tools yet to be developed and / or tools of different performance classes, if the electrical parameters of the connection are adjustable and thus adaptable to the requirements of the respective tool to be connected. The variety of tools that can be used with the construction robot can thus be expanded. The construction robot thus becomes particularly flexible in its use.

[0013] Furthermore, by appropriately adjusting the connection parameters, connected tools can be used more effectively. For example, a tool's range of functions can be further or even fully utilized. The performance and / or service life of the tool can also be improved by setting an optimized parameter value.

[0014] For autonomous operation of the construction robot, it is advantageous if the parameter required for a specific tool can be determined without interaction by a user of the construction robot.

[0015] In particular, it is conceivable for the construction robot to have a detector for automatically querying the parameter from a tool connected to the exchange interface. For this purpose, the tool can be configured to provide the parameter to the construction robot in response to a query from the detector.

[0016] It is conceivable that the parameter is provided by a marker located on or in the tool.

[0017] For example, the marker may include a wireless radio interface. This may include, for example, an NFC tag, a Bluetooth tag, and / or an RFID tag. In this case, the detector may include a reader compatible with the marker's wireless radio interface.

[0018] It can also be an optical marker. The optical marker can, for example, comprise a barcode, a QR code, or another data matrix code. The optical marker can preferably be arranged on a surface of the tool. It is also conceivable for the marker to have lettering and / or a sequence of numbers as plain text.

[0019] In the case of an optical marker, the detector may comprise an optical reader, for example an image recording unit such as a color camera.

[0020] The marker may also comprise an electrical marker. For example, the tool may have an electrical marker that provides an electrically interrogable code via an electrical interface. In this case, the detector may comprise a reader for reading the electrical interface.

[0021] The electrically interrogable coding can be implemented, for example, by one or more switches, also commonly referred to as "jumpers".

[0022] Alternatively or additionally, the tool can also comprise at least one electronic circuit, for example, a programmable microcontroller. The electrically interrogable coding can thus be provided in a software-based manner.

[0023] It is also conceivable that the tool has a marker that only provides an identification code instead of the actual parameter.

[0024] The detector may then comprise a reader configured to read the tool's identification code.

[0025] The construction robot, in particular a controller of the construction robot, can then be configured to establish a connection to a tool database and to query a parameter stored in the tool database using the identification code.

[0026] The tool database can also be located on a remote computer system, for example on a cloud-based computer system.

[0027] Additional information can also be stored in the tool database. For example, the tool database can contain retrievably stored program code executable on the construction robot's controller, which, when executed on the construction robot's controller, enables the construction robot to utilize specific functionalities and / or other specific properties of the tool for the respective tool.

[0028] In general, the parameter can be stored directly on or in the tool and can be accessed. Alternatively or additionally, the parameter can be determined indirectly using the tool's identification code.

[0029] The parameter can relate to a type of power supply and / or a type of communication.

[0030] For example, the parameter may be a supply voltage, in particular of the tool, for example a voltage and / or power class of the tool.

[0031] For example, the parameter can indicate which voltage, maximum current, and / or maximum power must be provided at a power supply connection of the interchangeable interface for use of the tool. For example, the parameter can indicate that the tool can be operated with a supply voltage of at least 12 V and less than 100 V, for example, nominally 12 V, 18 V, 22 V, 36 V, 44 V, 54 V, 60 V, or 72 V, and thus a corresponding supply voltage must be provided by the construction robot at the electrical connection.

[0032] The construction robot has a controllable energy converter.

[0033] The energy converter can comprise a DC / DC, an AC / DC, a DC / AC, and / or an AC / AC converter. The energy converter can be configured to convert the electrical energy available on board the construction robot in terms of its type, in particular DC voltage or AC voltage, in terms of its voltage, current, and / or internal resistance. The converted electrical energy can be presented at the connection of the conversion interface.

[0034] It is also conceivable that the parameter indicates a type of communication, for example a specific communication standard, e.g., as generally referred to as "CANOpen".

[0035] It is also conceivable that the parameter relates to the availability and / or a type of functionality of the tool, for example, the availability of an impact function. Alternatively or additionally, the parameter can also indicate whether or which sensors are available on the tool. It is also conceivable that the parameter relates to a version and / or compatibility with other tools.

[0036] Alternatively or additionally, the parameter can indicate a type and / or other property of the tool. Examples include information about the manufacturer of the tool, the type of tool, for example, chiseling machine, drill, impact wrench, grinder, cutting machine, or the like.

[0037] It is also conceivable that the parameter indicates an operating parameter of the tool, such as a weight, a vibration value, limits regarding current strengths, electrical capacities, temperature limits, permissible operating times, status information, or the like. This enables, for example, particularly precise control of a manipulator of the construction robot if the change interface, including the tool attached to it, is located on the manipulator.

[0038] The connector can be electrically coupled to a battery interface of the tool. For example, the tool can be a rechargeable battery-powered tool. For use with the construction robot, a rechargeable battery of the tool can be removed from the battery interface. The connector can then be electrically coupled to the battery interface. The construction robot can thus supply the tool with electrical energy via the connector and the battery interface.

[0039] It is also conceivable that the connection is set up to exchange data with the tool unidirectionally or bidirectionally via the battery interface.

[0040] Therefore, a construction robot for carrying out construction work on a building construction and / or civil engineering construction site is advantageous and can be considered an independent invention. It comprises a mobile platform, a manipulator, a change interface arranged on the manipulator, in particular on an end effector of the manipulator, and a tool arranged on the change interface. The change interface has an electrical connection that is and / or can be electrically coupled to a battery interface of the tool. The mobile platform, the manipulator, the change interface, and / or the tool can comprise one or more of the preceding and / or following, respectively equivalent elements.

[0041] A "tool" can be understood as an object that is not part of the body of the construction robot and with the help of which the functions of the construction robot can be expanded in order to perform a construction task, for example, a drilling task, a cutting task, a grinding task, or the like. A tool can also be understood as an electrical machine tool, such as machines for drilling, for example, hammer drills; for cutting, for example, saws or angle grinders; for grinding, marking, measuring, or the like. In particular, tools for processing rock, for example, concrete, and for processing metals, for example, steel, can be included.

[0042] The construction robot may have a manipulator. The manipulator may have a multi-axis arm, for example, with at least three, preferably at least six, degrees of freedom. To increase the reach, the construction robot may have a lifting device.

[0043] The changeover interface can be located on an end effector of the manipulator. The construction robot can be designed to perform construction work on a building construction site, a civil engineering site, and / or a steel construction site, for example, an oil drilling platform.

[0044] It can be equipped to perform construction work on a ceiling, wall, and / or floor. It can be designed to mark, drill, cut, chisel, grind, and / or set a construction element.

[0045] The construction robot can also have a mobile platform. The mobile platform can comprise a wheeled chassis and / or a tracked chassis. The mobile platform can have at least two degrees of freedom. It can also be a flying platform. The construction robot can have at least ten degrees of freedom in total.

[0046] The construction robot may have a controller. The controller may be embodied as a computer. It may have a processor, a memory module, and / or program code executable on the processor. The processor may have one or more subprocessors. The program code may be configured to operate a tool arranged at the exchange interface when executed on the controller.

[0047] In a method for using an electric tool with a construction robot, at least one parameter of the tool to be used is first determined automatically by the construction robot and then the construction robot operates the tool according to the determined parameter.

[0048] A detector of the construction robot can be used to determine the parameter.

[0049] Particularly preferably, the determination can be carried out by the construction robot querying the parameter from the tool. The query can be made electrically via the tool's exchange interface and a battery interface. Alternatively or additionally, the query can be made wirelessly, in particular radio-based and / or optically. The parameter can be queried directly or indirectly, in particular by querying an identification code and a subsequent query of a tool database.

[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. The various features can be implemented individually or in combinations in variants of the invention.

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

[0052] They show: Fig. 1 shows a perspective view of a construction robot with a changeover interface and a tool arranged thereon; Fig. 2 shows a block diagram of the construction robot and the tool; and Fig. 3 shows a flowchart of 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 16 and 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 20with 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, detachably arranged.

[0057] In order to detachably arrange the tool 24 on the change interface 21, it has a connecting section 22 on.

[0058] The change interface 21 is designed for the detachable connection of the connecting section 22 and thus also of the tool 24. The change interface 21 has an electrical connection 28 which is equipped with a battery interface 30 of the tool 24. The construction robot 10 is thus electrically coupled to the tool 24 via the connection 28. In particular, both electrical drive energy to the tool 24 and data can be transmitted bidirectionally from the construction robot 10 to the tool 24 and vice versa.

[0059] Furthermore, the construction robot 10 has a storage magazine 100 The supply magazine 100 has several storage locations 102 The tool 24 can be stored in free storage locations 102 for future reuse. Other elements, such as additional tools, can also be stored in the storage locations 102 for future use.

[0060] At the end effector 20 there is a detector 32, which includes a camera, for example a color camera, a black and white camera and / or a 3D camera.

[0061] The tool 24 has an identification code 34 For example, the identification code 34 may comprise a data matrix code, such as a barcode, a QR code, or an Aruco code.

[0062] For illustration purposes, the identification code 34 is printed on a side surface of the tool 24 in Fig. 1shown. However, the identification code 34 is preferably located at a position from which it is visible even when the tool 24 is located at one of the storage locations 102. For example, the identification code 34 can be arranged on an end face of the connecting section 22 and / or on a top side and / or on a bottom side of the tool 24.

[0063] The construction robot 10 has, preferably within the housing 14, a control arranged in the control room 16 36 The controller 36 comprises a memory module 38 and a microprocessor 40.

[0064] The controller 36 is provided with executable program code 42 The program code 42 is stored in the memory module 38 and can be retrieved and executed on the microprocessor 40.

[0065] The controller 36 is configured, in particular by means of the program code 42, to move the detector 32 with the aid of the manipulator 18 in such a way that an identification code of a tool to be used by the construction robot 10, for example when it is accommodated in one of the storage locations 102, comes into a field of view of the detector 32 and a recording of the identification code 34 is recorded by the detector 32.

[0066] Furthermore, the controller 36 is configured, in particular also by means of the program code 42, to recognize the identification code received by the detector 32, for example the identification code 34 of the tool 24. Furthermore, the controller 36 is configured, via a communication interface 44 a tool database stored in a cloud-based computer system (in Fig. 1 not shown) and to query at least one parameter of a tool associated with the recognized identification code.

[0067] Thus, the construction robot 10 is configured to query the parameters of the tool automatically, in particular without interaction by a user of the construction robot 10.

[0068] The construction robot 10 is designed to perform construction tasks, for example, drilling work in ceilings and walls, on a construction site, in particular on a building construction site, a civil engineering site, and / or on a steel construction site such as an oil platform. In particular, the controller 36 can control the manipulator 18 such that construction work on ceilings and walls can be performed. For the further description of the exemplary embodiment, it is assumed, by way of example, that the construction task to be performed consists of drilling a borehole in a concrete ceiling using the tool 24 designed as a rock drilling machine.

[0069] Fig. 2 shows a block diagram of the construction robot 10 with the tool 24 mounted on it.

[0070] To record the identification code 34, it can be brought into the area of ​​a field of view 33 of the detector 32, for example, by moving the detector 32. The detector 32 can then record the identification code 34 and send the associated image data to the controller 36. This can be done even before the tool 24 is connected to the construction robot 10 via the tool interface 21.

[0071] The controller 36 with its microprocessor 40, the memory module 38 and the program code 42 stored therein can receive the image data from the detector 32 and, in particular, identify the identification code 34. Via the communication module 44, it can receive from the tool database 46 at least one parameter 47 of the tool 24 using the identified identification code 34.

[0072] In the exemplary embodiment shown here, the identified identification code 34 corresponds to a type of tool 24, i.e., the rock drilling machine. The at least one parameter 47 corresponds to a target operating voltage of the tool 24, for example, 21.6 V.

[0073] The construction robot 10 has an on-board voltage of, for example, 48 V for general power supply. This is provided by an energy source 48, In the exemplary embodiment, a lithium-based accumulator and thus a DC voltage source is provided in the form of a corresponding DC voltage or a corresponding DC current.

[0074] An energy converter 50The energy converter 50 of the construction robot 10 is configured to convert the direct current provided by the energy source 48 into electrical energy for the tool 24 in a form adapted to the tool 24. The form to be generated can be set by the controller 36. In particular, the energy converter 50 is configured to selectively generate direct current or alternating current from the provided direct current. Furthermore, it is configured to set the generated direct voltage or alternating voltage to a value determined by the controller 36. The controller 36 determines the value based on the determined parameter 47.

[0075] In accordance with the value of the determined parameter 47, in the example 21.6 V, the controller 36 in the illustrated embodiment sets the output voltage generated by the energy converter 50 to 21.6 V DC, generally to the value and type specified by the parameter 47.

[0076] As soon as the tool 24 is electrically coupled to the construction robot 10 via the exchange interface 21, in particular via the electrical connection 28 of the exchange interface 21 and the battery interface 30, electrical operating energy is available in a manner tailored to the tool 24 for operating the tool 24.

[0077] In Fig. 2 It can also be seen that a data connection, in particular a bidirectional one, 51 via the connection 28 and the battery interface 30 to a tool control 52of the tool 24. Functionalities of the tool 24 can be controlled by the controller 36 via the data connection 51. For example, a control signal for starting or stopping a drive motor 54 of the tool 24 can be transmitted. The tool controller 52 can transmit status data, for example, a signal indicating a malfunction, to the controller 36 via the data connection 51.

[0078] As soon as the drive motor 54 is started by the control signal, it drives a drill 56 for example, rotating and impacting in order to carry out a desired construction task, in this case drilling a borehole with the tool 24.

[0079] Fig. 3 shows a process 1000. For ease of understanding, the method 1000 is described with reference to the method described in connection with Fig. 1 and Fig. 2 introduced elements and reference symbols are explained in more detail.

[0080] The method 1000 provides a method for using an electric tool with a construction robot. In particular, different types of tools can be used with the method 1000. For the purposes of the following illustrations, it is assumed, by way of example, that the construction robot 10 is to use the tool 24.

[0081] For this purpose, an investigative operation 1010 at least one parameter 47 of the tool 24 is determined.

[0082] The investigation can be carried out as in connection with Fig. 2described before the tool 24 is fully connected to the construction robot 10. In particular, the parameter can be transmitted directly from the tool 24 via optical communication, for example, as described above, using a detector 32 having a camera that records an optically perceivable data image, for example, a barcode or a QR code. The optically perceivable data image can include an identification code 34, via which the tool database 46 can be queried, and / or the optically perceivable data image can directly contain the at least one parameter.

[0083] Alternatively, the detection operation 1010 can also be performed at such an early point in time by radio-based communication between the construction robot 10 and the tool 24.

[0084] It is also conceivable to carry out the detection operation 1010 only after the tool 24 has been connected to the construction robot 10, in particular to the exchange interface 21. It is conceivable, based on a standardized protocol, for example, at all levels of an OSI (Open Systems Interconnection model) Layered architecture of a standardized network protocol to query the parameter from tool 24. If at least one separate data connection is available, such as in connection with Fig. 2 As described in connection with the data connection 51, it is also conceivable to require such a standardized protocol only for the data connection, but not for all other electrical connections. These other electrical connections can thus continue to be adapted to the respective requirements of the tool to be operated based on the at least one parameter.

[0085] Depending on the type of the at least one parameter 47 determined, a check can also be performed to determine whether the tool 24 is actually suitable for performing the desired construction task. If necessary, an alternative tool can be selected, for example, from the supply magazine 100. This check is particularly conceivable if the parameter 47 includes a type and / or functionality of the tool 24.

[0086] In the case described here, for example, depending on the type of parameter 47, it could be checked whether the tool 24 is basically a drilling machine, whether it has a percussion drilling functionality that allows drilling of concrete, whether the tool 24 requires electrical connection values ​​that can basically be provided by the construction robot 10.

[0087] It is also conceivable, especially when a type of tool is determined, to provide program code corresponding to the type of tool, for example, by querying the tool database 46 and downloading the program code from it. The program code can be specifically adapted to the operation of the respective tool. Thus, even after the construction robot 10 has been manufactured, additional tool types can be made usable by the construction robot 10.

[0088] Through a connection operation 1020The tool 24 is connected to the change interface 21 of the construction robot 10. Once the tool 24 is received in one of the storage locations 102, the manipulator 18 can be controlled such that the tool interface 21 is guided to the connecting section 22 and, upon contact, the connecting section 22 is locked to the tool interface 21 for secure mechanical fastening of the connecting section 22. Alternatively or additionally, locking can also be achieved using the battery interface 30.

[0089] If the terminal 28 and the battery interface 30 of the connecting section 22 have suitable plug connections and sockets, the intended electrical connections can also be established.

[0090] Then, in an execution operation 1030the tool 24 is operated, in particular in accordance with the determined parameter 47, in order to carry out the desired construction task, in this case in order to drill the desired borehole. List of reference symbols

[0091] 10 Construction robot 12 Chassis 14 Housing 16 Control room 17 Lifting device 18 Manipulator 19 Arm 20 End effector 21 Interchangeable interface 22 Connecting section 24 Tool 26 Dust extraction device 28 Connector 30 Battery interface 32 Detector 33 Field of view 34 Identification code 36 Controller 38 Memory module 40 Microprocessor 42 Program code 44 Communication interface 46 Tool database 47 Parameters 48 Energy source 50 Energy converter 51 Data connection 52 Tool control 56 Drill 100 Storage magazine 102 Storage location 1000 Procedure 1010 Determination operation 1020 Connection operation 1030 Execution operation

Claims

1. Construction robot (10), in particular for carrying out construction work in building construction, civil engineering and / or steel construction, comprising a changeover interface (21) for detachable connection to a tool (24), wherein the changeover interface (21) has at least one electrical connector (28) for electrically connecting to the tool (24), wherein the construction robot (10) is configured to set at least one electrical parameter (47) of the connector (28), a power source (48), characterized by a controllable power converter (50) configured to convert the electrical power available by way of the power source (48) with regard to its type, in particular DC voltage or AC voltage, with regard to its voltage, its current and / or an internal resistance according to the electrical parameter (47) of the tool.

2. Construction robot according to the preceding claim, characterized in that the construction robot (10) comprises a detector (32) for automatically querying the parameter (47) from a tool (24) connected to the changeover interface (21).

3. Construction robot according to either one of the preceding claims, characterized in that the parameter (47) relates to a type of power supply and / or a type of communication, for example a supply voltage.

4. Construction robot according to any one of the preceding claims, characterized in that the parameter (47) relates to an availability and / or a type of functionality of the tool, for example the availability of an impact functionality.

5. Construction robot according to any one of the preceding claims, characterized in that the connector (28) can be electrically coupled to a battery interface (30) of the tool (24).