Autonomous or manual working device and method for at least partially automatically operating an object

Abstract

The invention relates to an autonomous or manual working device (10a), in particular a robot, comprising a processing unit (12a), in particular a drill unit, comprising a travelling unit (14a) for moving the processing unit (12a) and comprising a control unit (16a) at least for controlling the processing unit (12a). According to the invention, the control unit (16a) is provided such that, at least according to a comparison of a target characteristic variable of at least one test object (18a) in a working environment (26a) of the processing unit (12a) and an actual characteristic variable of the test object (18a), it classifies the test object (18a) as a localisation reference object (20a).

Description

[0001] Description

[0002] Autonomous or manual working device and method for at least partially automatic processing of an object

[0003] State of the art

[0004] An autonomous or manual working device with a processing unit, with a movement unit for moving the processing unit and with a control unit at least for controlling the processing unit has already been proposed.

[0005] Disclosure of the invention

[0006] The invention is based on an autonomous or manual working device, in particular a robot, with a processing unit, in particular a drilling unit, with a movement unit for moving the processing unit and with a control unit at least for controlling the processing unit.

[0007] It is proposed that the control unit is provided to classify the test object as a localization reference object at least depending on a comparison of a target characteristic of at least one test object in a working environment of the processing unit and an actual characteristic of the test object.

[0008] By designing the implement in this way, existing objects in the implement's working environment can be classified with particularly little effort for the purpose of locating the implement and, if necessary, used for precise localization of the implement. Advantageously, precise autonomous localization of the implement can be achieved or improved particularly conveniently. Advantageously, the need for additional separate reference markers can be kept to a minimum. Advantageously, costs and / or working time can be saved.

[0009] The working device is preferably designed as a processing robot, in particular as a construction site robot. The working device is particularly preferably designed as a drilling robot. Alternatively, however, it is also conceivable for the working device to be designed as a construction site robot different from a drilling robot, for example as a painting robot, a window cleaning robot, a sweeping robot, an outdoor robot, for example as a mulching robot, a hedge trimming robot, a snow clearing robot, a collecting robot, in particular for collecting leaves, twigs or the like, as a combination of these, or as another working device that appears appropriate to a person skilled in the art. The working device is particularly designed to be different from a stationary working device. Preferably, the working device is designed to be different from a device permanently installed in one position, in particular to be different from an industrial robot.In particular, the work device is configured to move independently. "Configured" should be understood to mean, in particular, specially programmed, specially designed, and / or specially equipped. The fact that an object is configured for a specific function should be understood to mean, in particular, that the object fulfills and / or performs this specific function in at least one application and / or operating state. The work device is preferably designed as a mobile work device. The work device is preferably designed to be mobile. Alternatively, however, it is also conceivable for the work device to be designed as a drone.

[0010] The working device is preferably intended for at least partially automatic processing of the object. In particular, the working device is intended for at least partially automatic creation of drill holes in the object. The working device is preferably intended for independent processing of the object, in particular for independent creation of drill holes in the object. “Intended” should be understood to mean specially set up, specially designed and / or specially equipped. The fact that an object is intended for a specific function should be understood to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state. The object is preferably a part of a building, for example a wall, a ceiling, a floor, a facade or the like.Alternatively, however, it is also conceivable that the object is different from a part of a building, for example a particularly fixed, preferably stationary, piece of furniture or the like.

[0011] The processing unit preferably has a manipulator unit, in particular a robot arm. In particular, the processing unit has a tool unit, in particular an end effector. The tool unit is preferably arranged on the manipulator unit, preferably at a free end of the manipulator unit. The tool unit preferably has a tool holder for receiving a tool, a handheld power tool, or the like. The tool is particularly preferably designed as a drill. Alternatively, however, it is also conceivable for the tool to be designed as a brush, a squeegee, a grinding wheel, a saw blade, a hammer, or another tool that appears appropriate to a person skilled in the art. It is conceivable for the tool and / or the handheld power tool to be part of the tool unit.It is also conceivable for the tool unit, in particular the tool and / or the tool unit, to be controllable by the control unit. The handheld power tool is preferably designed as a drill. The handheld power tool can be designed as a commercially available handheld power tool. The handheld power tool can be designed as a battery-operated handheld power tool or as a corded handheld power tool. Alternatively, it is also conceivable for the handheld power tool to be designed specifically for interaction with the processing unit. Alternatively, it is also conceivable for the handheld power tool to be designed as a screwdriver, a jigsaw, a dowel inserter, a slot cutter, a cut-off grinder, a circular saw, a demolition hammer, a nail gun, a grinder, or any other handheld power tool that a person skilled in the art would deem appropriate.

[0012] The manipulator unit preferably has six degrees of freedom. Alternatively, however, it is also conceivable for the manipulator unit to have fewer than six degrees of freedom. The manipulator unit is preferably controllable via the control unit. The control unit is preferably provided to control the processing unit, in particular the manipulator unit and / or the tool unit, preferably the tool and / or the handheld power tool, during processing of the object.

[0013] The propulsion unit is preferably provided for generating a propulsion force. The processing unit, in particular the manipulator unit, is preferably arranged on, preferably on, the propulsion unit. The tool unit is preferably at least mechanically connected to the propulsion unit via the manipulator unit. The propulsion unit is particularly provided for moving the processing unit on a surface, for example a floor, a wall and / or a ceiling. The propulsion unit is preferably provided for moving the work tool as a whole over the surface. The propulsion unit has, in particular, a chassis. The propulsion unit, in particular the chassis, has, for example, a chain unit, a roller unit, a wheel unit, a propeller unit, a turbine unit or other means of propulsion that appear appropriate to a person skilled in the art, or a combination thereof.

[0014] The chain unit has in particular at least one chain drive, preferably at least two chain drives. The wheel unit comprises, for example, at least one wheel, preferably at least two wheels, more preferably at least three wheels and particularly preferably at least four wheels. The roller unit comprises, for example, at least one roller, preferably at least two rollers, preferably at least three rollers and particularly preferably at least four rollers. In particular in the case of a working device designed as a drone, the propulsion unit comprises at least one propeller unit, a turbine unit or the like for propulsion. The propeller unit has, for example, at least one propeller, preferably at least two propellers and particularly preferably at least four propellers. The turbine unit has, for example, at least one, preferably several, turbines.

[0015] The propulsion unit preferably has at least one drive unit. In particular, the drive unit is provided to drive the chassis, preferably the wheel unit, the roller unit, the chain unit, the propeller unit, or the like. The drive unit comprises, in particular, at least one electric motor or the like. A movement of an implement frame of the implement, in particular of the propulsion unit, is coupled, in particular, to a drive, in particular, a movement, of the chassis. The chassis, which is preferably driven by the drive unit, can generate, in particular, a movement of the implement frame relative to the ground, in particular relative to the work environment.

[0016] The movement of the device frame relative to the ground depends, in particular, on control by the control unit. The drive unit is provided to drive the chassis to perform a translational and / or rotational movement of the device frame, in particular depending on control by the control unit. The control unit comprises, in particular, at least one processor and one memory element, as well as an operating program stored on the memory element. The memory element is preferably designed as a digital storage medium, for example, as a hard disk or the like.

[0017] The work environment can be, for example, an interior of a building, an exterior, in particular of a building, or the like. The test object is preferably a wall in the work environment. Alternatively, the test object can also be the object to be processed, in particular a ceiling, a floor, another, preferably fixed, part of the building, or a fixed, in particular stationary, object in the work environment.

[0018] The target parameter of the test object preferably comprises at least one piece of information relating to a target position of the test object. Alternatively or additionally, it is conceivable for the target parameter of the test object to comprise information relating to at least one dimension, in particular a height and / or a width, of the test object, a material parameter of the test object, a surface parameter, for example a flatness or the like, of the test object, a temperature parameter of the test object, a humidity parameter of the test object, a combination of these, or the like. The target parameter is preferably stored on the memory element of the control unit, in particular in a work environment model of the work environment. The work environment model is preferably a Building Information Modeling (BIM) model or the like. The work environment model preferably stores which objects in the work environment are to be understood as test objects.The work environment model is preferably stored on the memory element of the control unit. Alternatively, it is also conceivable for the work environment model to be stored on an external unit, wherein the external unit is preferably connectable to the work device via data technology, in particular wirelessly and / or via a cable. The external unit can be configured, for example, as a smartphone, a cloud, a central computer, a server, a laptop, a smart home system, or the like. It is also conceivable for the external unit to comprise at least part of the control unit.

[0019] The processing unit is particularly designed to process at least the object according to a processing plan. The processing plan is stored, for example, on the memory element of the control unit. The processing plan is noted, for example, in the work environment model. The control unit is particularly designed to navigate the movement unit and / or the processing unit in the work environment, at least based on the processing plan and / or the work environment model.

[0020] The work device preferably has at least one detection unit. The control unit is preferably provided to control the work device, in particular the movement unit and / or the processing unit, depending on information detected by the detection unit. The detection unit is preferably designed at least partially as an optical detection unit. The detection unit has, for example, at least one lidar unit for detecting the work environment. Alternatively or additionally, it is also conceivable for the detection unit to have a stereo camera, a time-of-flight camera, a camera system based on fringe projection and / or other detection means that appear appropriate to a person skilled in the art. The detection unit is particularly designed to detect the actual characteristic of the test object or information for determining the actual characteristic of the test object.The control unit is preferably designed to evaluate the information acquired by the detection unit, in particular the lidar unit, based on a simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is, in particular, a method for simultaneous position determination and map creation in robotics, wherein, in particular within the method, a virtual map of an environment and a spatial position of a movable unit, in particular the work device, within the virtual map are determined, preferably simultaneously.

[0021] The control unit is particularly designed to determine a deviation of the actual characteristic from the target characteristic when comparing the target characteristic of the test object with the actual characteristic of the test object. The control unit is preferably designed to classify the test object as a localization reference object if a value of the deviation of the actual characteristic from the target characteristic lies within a tolerance range compared to a value of the target characteristic. If a value of the deviation of the actual characteristic from the target characteristic lies outside the tolerance range compared to a value of the target characteristic, the test object is particularly excluded from classification as a localization reference object by the control unit. The tolerance range is preferably defined in the operating program, in particular stored in the work environment model.It is conceivable that the tolerance range is adjustable, in particular manually by an operator and / or automatically by the control unit, for example, depending on information stored in the work environment model. It is also conceivable that different tolerance ranges are assigned to different test objects in the work environment in the work environment model.

[0022] It is further proposed that the control unit is provided to control the processing unit depending on the at least one test object classified as a localization reference object. Objects already present in the work environment can advantageously be used for localization. The need for additional localization reference elements specially designed for localization can advantageously be kept to a minimum. A particularly cost-effective operation of a work device can advantageously be realized. Such a configuration can reduce user effort, in particular due to the necessary attachment of localization reference elements specially designed for localization. The control unit is particularly provided to control the movement unit depending on the test object classified as a localization reference object.The control unit is preferably provided to control the processing unit, in particular the manipulator unit and / or the tool unit, and / or the movement unit depending on the test object classified as a localization reference object. The control unit is preferably provided to control the processing unit and / or the movement unit depending on the test object classified as a localization reference object for localization, in particular during a movement, of the processing unit and / or the movement unit in the work environment. The control unit is particularly provided to control the processing unit and / or the movement unit depending on the test object classified as a localization reference object when the object is being processed by the processing unit.Preferably, the control unit is configured to ignore the test object that is excluded from classification as a localization reference object due to the comparison of the actual characteristic of the test object with the target characteristic of the test object during localization, in particular during a movement, of the processing unit and / or the locomotion unit. The control unit is configured, in particular, to ignore the test object that is excluded from classification as a localization reference object due to the comparison of the actual characteristic of the test object with the target characteristic of the test object during processing of the object by the processing unit.

[0023] It is further proposed that the control unit be configured to identify, at least depending on a classification of the at least one test object, sub-areas of the work environment in which localization of the processing unit is possible based on the at least one test object. Advantageously, it can be checked whether an intended processing of the object, in particular an execution of the processing plan, is possible by controlling the work device, preferably the processing unit and / or the movement unit, based on the at least one test object.For example, if a sub-area of ​​the work environment is free of test objects that can be detected by the detection unit and classified as localization reference objects by the control unit, localization of the processing unit in this sub-area by the control unit based on localization reference objects, in particular a sufficiently precise localization, is impossible. For example, if the at least one test object classified as a localization reference object by the control unit can be detected by the detection unit in another sub-area, localization of the processing unit in the further sub-area based on the test object is possible, preferably by means of the control unit.

[0024] Furthermore, it is proposed that the control unit be provided to use a support point assigned to the processing unit in the working environment of the processing unit to check the localizability of the processing unit at the support point required for processing the object. Depending on the intended processing of the object, it is advantageously possible to dispense with the need to ensure the localizability of the work device in the entire working environment. The need for additional localization reference elements specially designed to support localization can advantageously be kept to a minimum. A particularly low installation effort for installing additional localization reference elements can advantageously be achieved. The support points are preferably stored in the working environment model.The support points represent, in particular, positions that enable localization and / or operation of the work device, in particular of the processing unit and / or the movement unit, in the entire work area, in particular operation and / or navigation of the work device, preferably of the processing unit and / or the movement unit, for processing the object, preferably for carrying out the processing plan, if localization of the work device, in particular of the processing unit and / or the movement unit, is possible at the support points.The control unit is preferably provided to check, at least at the support points, in particular based on information of the work environment acquired by the detection unit, whether localization of the work device, in particular of the processing unit and / or the movement unit, is possible at the support points based on the at least one test object that can be classified as a localization reference object. Furthermore, it is proposed that the control unit be provided to check for a need for additional localization reference elements. Advantageously, the need for additional localization reference elements specifically designed to support localization can be kept particularly low. It is advantageously conceivable that additional localization reference elements can be dispensed with entirely.Autonomous localization of the work device, in particular of the processing unit and / or the movement unit, can be achieved particularly cost-effectively. The control unit is preferably provided to determine a need for additional localization reference elements for sub-areas of the work environment in which localization of the processing unit based on the at least one test object classifiable as a localization reference object is excluded, in particular a number of additional localization reference elements required to localize the processing unit in the sub-areas in which, in particular, localization of the processing unit based on the at least one test object classifiable as a localization reference object is excluded.Preferably, the control unit is provided to determine a need for additional localization reference elements, in particular a number of additional localization reference elements required for localizing the processing unit at the support points in the work environment at which localization of the processing unit based on the at least one test object classifiable as a localization reference object is excluded, for support points in the work environment at which localization of the processing unit based on the at least one test object classifiable as a localization reference object is excluded. It is conceivable that the need for additional localization reference elements comprises only one additional localization reference element, two additional localization reference elements, at least three additional localization reference elements, or a plurality of additional localization reference elements.The need for additional localization reference elements depends in particular on the processing plan. The additional localization reference elements are, in particular, objects specially designed for localization. The additional localization reference elements are preferably designed as reflection markers, in particular as triple mirrors, as reflective foils, or the like. The detection unit is preferably configured to detect the additional localization reference elements. The control unit is, in particular, provided to control the processing unit and / or the movement unit to localize the processing unit and / or the movement unit in the work environment and / or to process the object by the processing unit, in particular as needed, depending on additional localization reference elements mounted in the work environment.Sub-areas, in particular support points, of the working environment in / at which a localization of the work device, preferably of the processing unit and / or of the movement unit is possible by means of the control unit based on the at least one test object classified as a localization reference object, are preferably free of a need for additional localization reference elements.

[0025] It is also proposed that the control unit be provided to determine a target mounting position for at least one additional localization reference element depending on a review of the need for additional localization reference elements. Advantageously, the required localization of the work device, in particular of the processing unit and / or the movement unit, in the work environment can be ensured in a particularly convenient manner. For example, the work device comprises an output unit. The output unit is designed, for example, as an optical output unit, an acoustic output unit, a haptic output unit, or as a combination of these. The output unit has, for example, a screen, a lighting element, for example an LED, a laser, or the like, a loudspeaker, or the like. It is conceivable that the output unit is provided to output the target mounting position.For example, it is conceivable that the target mounting position is displayed on a screen of the output unit and / or that the output unit is configured to project the target mounting position in the work environment. Alternatively or additionally, it is also conceivable that the work device, in particular the processing unit, is configured to at least partially automatically attach the additional localization reference element to the target mounting position. The control unit is in particular provided to store a specific target mounting position of the at least one additional localization reference element, preferably on the memory element of the control unit, in particular to store it in the work environment model.Furthermore, the invention is based on a method for at least partially automatically processing an object, in particular the one already mentioned, in particular for at least partially automatically creating boreholes in the object, preferably a part of a building, in particular the one already mentioned, by means of a working device, in particular by means of the one already mentioned. It is proposed that the test object is classified as a localization reference object depending on a comparison of a target parameter, in particular the one already mentioned, of at least one test object, in particular the one already mentioned, in a working environment, in particular the one already mentioned, of a processing unit, in particular the one already mentioned, of the working device, and a current parameter, in particular the one already mentioned, of the at least one test object.Advantageously, it can be checked whether existing objects in the working environment of the processing unit can be used to locate the work device, in particular the processing unit and / or the movement unit. This allows precise localization of the work device to be achieved and / or improved particularly conveniently.

[0026] Furthermore, it is proposed that the need for additional localization reference elements be reviewed. Advantageously, the need for additional localization reference elements specifically designed to support localization can be kept particularly low. It is advantageously conceivable that additional localization reference elements can be dispensed with entirely. Autonomous localization of the work device, in particular the processing unit and / or the movement unit, can be achieved particularly cost-effectively.

[0027] Furthermore, it is proposed that, at least depending on a review of the need for additional localization reference elements, a target mounting position for at least one additional localization reference element is determined by means of the control unit. Advantageously, a required localization of the work device, in particular of the processing unit and / or the movement unit, in the work environment can be supported in a particularly convenient manner. The work device and / or the method should not be limited to the application and embodiment described above. In particular, the work device and / or the method can have a number of individual elements, components and units as well as method steps that differs from the number stated herein in order to fulfill a function described herein.Furthermore, in the ranges of values ​​specified in this disclosure, values ​​within the stated limits shall also be deemed to be disclosed and to be usable in any way.

[0028] drawing

[0029] Further advantages will become apparent from the following description of the drawings. The drawings illustrate five exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into further meaningful combinations.

[0030] They show:

[0031] Fig. 1 an autonomous work device and an object to be processed in a schematic representation,

[0032] Fig. 2 the autonomous work device in a working environment in a schematic plan view,

[0033] Fig. 3 a part of the autonomous working device with an interface device in a schematic view,

[0034] Fig. 4 shows a schematic sequence of a method for at least partially automatic processing of an object,

[0035] Fig. 5 shows a schematic sequence of a further method for at least partially automatic processing of an object,

[0036] Fig. 6 shows a system with an autonomous working device in a first alternative embodiment and with a localization reference element and an object to be processed in a schematic representation,

[0037] Fig. 7 shows a schematic sequence of a method for at least partially automatically processing the object by means of the autonomous working device from Figure 6,

[0038] Fig. 8 shows an autonomous working device in a second alternative embodiment and an object to be processed in a schematic representation,

[0039] Fig. 9 shows a schematic sequence of a method for at least partially automatically processing the object by means of the autonomous working device from Figure 8,

[0040] Fig. 10 shows a system with an autonomous working device in a third alternative embodiment and with a projection unit and an object to be processed in a schematic representation,

[0041] Fig. 11 shows a schematic sequence of a method for at least partially automatically processing the object by means of the system from Figure 10,

[0042] Fig. 12 shows a system with an autonomous working device in a fourth alternative embodiment and with at least two localization elements and an object to be processed in a schematic representation, and

[0043] Fig. 13 shows a schematic sequence of a method for at least partially automatically processing the object by means of the system from Figure 12.

[0044] Description of the embodiments

[0045] Figure 1 shows a system 36a with an autonomous working device 10a. Alternatively, it is also conceivable for the working device 10a to be designed as a manual working device 10a. The autonomous working device 10a is designed as a construction site robot, in particular as a drilling robot. Alternatively, however, it is also conceivable for the autonomous working device 10a to be designed as a construction site robot different from a drilling robot, for example as a painting robot, a window cleaning robot, a sweeping robot, an outdoor robot, for example as a mulching robot, a hedge trimming robot, a snow removal robot, a collecting robot, in particular for collecting leaves, branches or the like, as a combination of these, or as another autonomous working device 10a that appears appropriate to a person skilled in the art. The autonomous working device 10a is designed differently from a stationary autonomous working device.The autonomous work device 10a is designed differently from an autonomous device permanently installed at a position, in particular an industrial robot. The autonomous work device 10a is configured to move independently. The autonomous work device 10a is designed as a mobile autonomous work device. The autonomous work device 10a is designed to be mobile. Alternatively, however, it is also conceivable for the autonomous work device 10a to be designed as a drone.

[0046] The autonomous working device 10a is intended for at least partially automatic processing of an object 68a. The autonomous working device 10a is intended here, for example, for at least partially automatic creation of drill holes in the object 68a. The autonomous working device 10a is intended for autonomous processing of the object 68a, in particular for autonomous creation of drill holes in the object 68a. The object 68a is a building part, in particular a ceiling. Alternatively, it is conceivable that the object 68a is a wall, a floor, a facade, a piece of furniture, or the like.

[0047] The autonomous work device 10a has a processing unit 12a. The processing unit 12a has a drilling unit 88a, in particular, it is designed as a drilling unit 88a. The processing unit 12a has a tool unit 44a (see also Figure 3). The tool unit 44a is designed as an end effector. The tool unit 44a has a tool holder 120a for receiving a handheld power tool 122a. A handheld power tool 122a is arranged on the tool holder 120a. The handheld power tool 122a is part of the autonomous work device 10a, in particular the tool unit 44a. The tool unit 44a, in particular the handheld power tool 122a, can be controlled by the control unit 16a. The handheld power tool 122a is designed as a drill. The handheld power tool 122a can be designed as a commercially available handheld power tool.The handheld power tool 122a can be designed as a battery-operated handheld power tool or as a corded handheld power tool. Alternatively, it is also conceivable for the handheld power tool 122a to be specifically designed to interact with the processing unit 12a. Alternatively, it is also conceivable for the handheld power tool 122a to be designed as a screwdriver, a jigsaw, a dowel inserter, a slot cutter, a cut-off grinder, a circular saw, a demolition hammer, a nail gun, a grinder, or any other handheld power tool deemed appropriate by a person skilled in the art. Alternatively or additionally, it is conceivable for the tool holder 120a to be configured to receive a tool or the like.The tool is designed, for example, as a drill, a brush, a squeegee, a grinding wheel, a saw blade, a hammer, or any other tool deemed appropriate by a person skilled in the art. It is conceivable for the tool to be part of the tool unit 44a. Furthermore, it is alternatively or additionally conceivable for the tool unit 44a to be configured as a rotary drive, an oscillatory drive, or the like for the tool.

[0048] The tool holder 120a of the tool unit 44a has, for example, a two-point fastening to the handheld power tool 122a when the handheld power tool 122a is fastened to the tool holder 120a. Alternatively, it is conceivable that the tool holder 120a has a one-point fastening or at least a three-point fastening to the handheld power tool 122a when the handheld power tool 122a is fastened to the tool holder 120a. The tool holder 120a preferably has a preferably damped spring unit (not shown here), via which, in particular, the handheld power tool 122a and / or the tool, when arranged on the tool holder 120a, is connected to the tool holder 120a. It is conceivable that damping of the spring unit is adjustable.The spring unit comprises, for example, at least one spring element, in particular a helical spring, a leaf spring, a rubber-elastic element, or the like. The processing unit 12a comprises a manipulator unit 72a. The manipulator unit 72a is designed as a robot arm. The manipulator unit 72a has multi-axis kinematics. The manipulator unit 72a has six degrees of freedom. Alternatively, however, it is also conceivable for the manipulator unit 72a to have fewer than six degrees of freedom. The manipulator unit 72a can be controlled via the control unit 16a. The control unit 16a is provided to control the processing unit 12a, in particular the manipulator unit 72a and / or the tool unit 44a, preferably the handheld power tool 122a, during processing of the object 68a.

[0049] The autonomous work device 10a has a movement unit 14a for moving the processing unit 12a. The movement unit 14a is provided for generating a movement force. The processing unit 12a, in particular the manipulator unit 72a, is arranged on, preferably on, the movement unit 14a. The tool unit 44a is at least mechanically connected to the movement unit 14a via the manipulator unit 72a. The movement unit 14a is provided for moving the processing unit 12a on a surface 150a, for example a floor, a wall, and / or a ceiling. The movement unit 12a is provided for moving the autonomous work device 10a as a whole over the surface 150a. The movement unit 14a has a chassis 128a. The locomotion unit 14a, in particular the chassis 128a, has a wheel unit 124a.The wheel unit 124a comprises four wheels 126a (only two of the four wheels 126a are shown in Figure 1). Alternatively, it is also conceivable for the wheel unit 124a to have only one wheel, two wheels, three wheels, or more than four wheels. Alternatively or additionally, it is conceivable for the locomotion unit 14a to have a chain unit, a roller unit, a propeller unit, or other means of locomotion that would appear appropriate to a person skilled in the art, or a combination thereof. The chain unit has, in particular, at least one tracked drive, preferably at least two tracked drives. The roller unit comprises, for example, at least one roller, preferably at least two rollers, more preferably at least three rollers, and particularly preferably at least four rollers. In particular, in the case of an autonomous work device 10a designed as a drone, the locomotion unit 14a comprises at least one propeller unit or the like for locomotion.The propeller unit has, for example, at least one propeller, preferably at least two propellers and particularly preferably at least four propellers.

[0050] The propulsion unit 14a has at least one drive unit (not shown here). The drive unit is intended to drive the chassis 128a, in particular the wheel unit 124a. The drive unit comprises at least one electric motor or the like. A movement of an implement frame 130a of the autonomous work device 10a, in particular the propulsion unit 14a, is coupled to a drive, in particular a movement, of the chassis 128a. A movement of the implement frame 130a can be generated by the chassis 128a, which is preferably driven by the drive unit.

[0051] The autonomous work device 10a has a control unit 16a at least for controlling the processing unit 12a. The movement of the device frame 130a depends on a control by the control unit 16a. The drive unit is provided to drive the chassis 128a to perform a translational and / or rotational movement of the device frame 130a, in particular depending on a control by the control unit 16a. The control unit 16a comprises, in particular, at least one processor and one memory element, as well as an operating program stored on the memory element. The memory element is preferably designed as a digital storage medium, for example, as a hard disk or the like. The processing unit 12a, in particular the tool unit 44a and / or the manipulator unit 72a, can be controlled by means of the control unit 16a.

[0052] The autonomous work device 10a has a height-adjustable work platform 32a. Alternatively, it is also conceivable for the autonomous work device 10a to be designed without a height-adjustable work platform 32a. The work platform 32a is arranged on the movement unit 14a. The manipulator unit 72a is arranged on the work platform 32a. The work platform 32a is height-adjustable relative to a base 150a on which the autonomous work device 10a, in particular the movement unit 14a, is arranged. The autonomous work device 10a has a lifting unit 144a. The work platform 32a is height-adjustable by means of the lifting unit 144a. The lifting unit 144a has a telescopic rod 146a. The telescopic rod 146a is designed as a hydraulic telescopic rod. Alternatively, it is also conceivable that the lifting unit 144a has more than one telescopic rod 146a.Furthermore, it is alternatively or additionally conceivable for the lifting unit 144a to have a scissor lifting mechanism, a linear drive, for example a rack and pinion, a push chain, a ball screw drive, a linear motor, or the like. The work platform 32a is connected to the movement unit 14a via the lifting unit 144a, in particular the telescopic rod 146a. The lifting unit 144a is connected to the control unit 16a for control purposes, in particular wirelessly and / or via a cable. The lifting unit 144a is part of the processing unit 12a. For example, it is alternatively conceivable for the work platform 32a to be arranged on the manipulator unit 72a of the processing unit 12a in such a way that the work platform 32a is height-adjustable by means of the manipulator unit 72a.

[0053] The control unit 16a is provided to classify the test object 18a as a localization reference object 20a at least depending on a comparison of a target characteristic of at least one test object 18a in a work environment 26a of the processing unit 12a and an actual characteristic of the at least one test object 18a. The work environment 26a here is, for example, an interior area of ​​a building. Alternatively, it is also conceivable for the work environment to be an exterior area, in particular of a building, or the like. The test object 18a is a wall in the work environment 26a of the processing unit 12a. The test object 18a can alternatively also be the object 68a, in particular a ceiling, a floor, another, preferably fixed, part of a building, or a fixed, in particular stationary, object in the work environment 26a.

[0054] The target parameter of the test object 18a includes at least one piece of information relating to a target position of the test object 18a. Alternatively or additionally, it is conceivable for the target parameter of the test object 18a to include information relating to at least one dimension, in particular a height and / or a width, of the test object 18a, a material parameter of the test object 18a, a surface parameter, for example a flatness, of the test object 18a, a temperature parameter of the test object 18a, a humidity parameter of the test object, a combination of these, or the like. The target parameter is stored on the memory element of the control unit 14a, in particular in a work environment model of the work environment 26a. The work environment model is a Building Information Modeling (BIM) model or the like. The work environment model stores which objects in the work environment 26a are to be understood as test objects 18a.The work environment model is stored on the memory element of the control unit 16a. Alternatively, it is also conceivable for the work environment model to be stored on an external unit (not shown here), wherein the external unit is preferably connectable to the autonomous work device 10a via data technology, in particular wirelessly and / or via a cable. The external unit can be designed, for example, as a smartphone, a cloud, a central computer, a server, a laptop, a smart home system, or the like. It is also conceivable for the external unit to comprise at least part of the control unit 16a. The processing unit 12a is provided to process at least the object 68a according to a processing plan. The processing plan is stored, for example, on the memory element of the control unit 16a. The processing plan is noted, for example, in the work environment model.The control unit 16a is provided to navigate the movement unit 14a and / or the processing unit 12a in the work environment 26a, at least based on the processing plan and / or the work environment model.

[0055] The autonomous work device 10a has at least one detection unit 30a. The detection unit 30a is arranged on the work platform 32a. Alternatively, it is also conceivable for the detection unit 30a to be arranged on the processing unit 12a or on the movement unit 14a. The detection unit 30a is provided for detecting the actual characteristic of the test object 18a. The control unit 16a is provided for controlling the autonomous work device 10a, in particular the movement unit 14a and / or the processing unit 12a, depending on information detected by the detection unit 30a, preferably when localized in the work environment 26a, in particular when localized in the work environment 26a based on the processing plan and / or the work environment model. The detection unit 30a is designed as an optical detection unit.The detection unit 30a has at least one lidar unit (not shown here) for detecting the working environment 26a. Alternatively or additionally, it is conceivable for the detection unit 30a to have a stereo camera, a time-of-flight camera, a camera system based on fringe projection, and / or other detection means that appear appropriate to a person skilled in the art. The detection unit 30a is configured to detect the actual characteristic of the test object 18a or information for determining the actual characteristic of the test object 18a. The control unit 16a is provided to evaluate the information detected by the detection unit 30a, in particular the lidar unit, based on a simultaneous localization and mapping (SLAM) method.The Simultaneous Localization and Mapping (SLAM) method is in particular a method for simultaneous position determination and map creation in robotics, wherein in particular within the method, preferably simultaneously, a virtual map of an environment and a spatial position of a movable unit, in particular of the autonomous work device, within the virtual map are determined.

[0056] The control unit 14a is provided to control the processing unit 12a depending on the at least one test object 18a classified as a localization reference object 20a. The control unit 16a is provided to control the movement unit 14a depending on the test object 18a classified as a localization reference object 20a. The control unit 16a is provided to control the processing unit 12a, in particular the manipulator unit 72a and / or the tool unit 44a, and / or the movement unit 14a depending on the test object 18a classified as a localization reference object 20a.The control unit 16a is provided to control the processing unit 12a and / or the movement unit 14a in dependence on the test object 18a classified as the localization reference object 20a for localization, in particular during a movement, of the processing unit 12a and / or the movement unit 14a in the work environment 26a. The control unit 16a is provided to control the processing unit 12a and / or the movement unit 14a in dependence on the test object 18a classified as the localization reference object 20a when the object 68a is processed by the processing unit 12a.

[0057] The control unit 16a is provided to ignore a test object 18a that is excluded from classification as a localization reference object 20a due to the comparison of the actual characteristic of the test object 18a with the target characteristic of the test object 18a during a localization, in particular a movement, of the processing unit 12a and / or the locomotion unit 14a. The control unit 16a is provided to ignore a test object 18a that is excluded from classification as a localization reference object 20a due to the comparison of the actual characteristic of the test object 18a with the target characteristic of the test object 18a during a processing of the object 68a by the processing unit 12a.

[0058] The control unit 16a is designed to determine a deviation of the actual characteristic from the target characteristic when comparing the target characteristic of the test object 18a with the actual characteristic of the test object 18a. If a value of the deviation of the actual characteristic from the target characteristic lies within a tolerance range relative to a value of the target characteristic, the control unit 16a classifies the test object 18a as a localization reference object 20a. If a value of the deviation of the actual characteristic from the target characteristic lies outside the tolerance range relative to a value of the target characteristic, the test object 18a is excluded from classification as a localization reference object 20a by the control unit 16a. The tolerance range is defined in particular in the operating program, in particular stored in the work environment model.It is conceivable that the tolerance range is adjustable, in particular manually by an operator and / or automatically by the control unit 16a, for example depending on information stored in the work environment model.

[0059] The control unit 16a is provided to identify, at least depending on a classification of the at least one test object 18a, sub-areas 90a, 92a of a work environment 26a in which a localization of the processing unit 12a is possible based on the at least one test object 18a. For example, if the at least one test object 18a classified by the control unit 16a as a localization reference object 20a is detectable by the detection unit 30a in one of the sub-areas 90a, 92a, the processing unit 12a can be localized based on the test object 18a, preferably by means of the control unit 16a.If, for example, another of the sub-areas 90a, 92a of the working environment is free of test objects 18a that can be detected by the detection unit 30a and that can be classified as localization reference objects 20a by the control unit 16a, a localization, in particular a sufficiently precise localization, of the processing unit 12a in this other of the sub-areas 90a, 92a by the control unit 16a using localization reference objects 20a is unrealizable.

[0060] Figure 2 shows, by way of example, a sub-area 90a of the work environment 26a, in which the at least one test object 18a classified by the control unit 16a as a localization reference object 20a can be detected by the detection unit 30a, so that in the sub-area 90a, localization of the processing unit 12a is possible based on the at least one test object 18a. A further sub-area 92a of the work environment 26a is free of test objects 18a that can be detected by the detection unit 30a and that can be classified as localization reference objects 20a by the control unit 16a, so that, in particular, localization of the processing unit 12a in the further sub-area 92a based on test objects 18a, in particular based on test objects 18a classified as localization reference objects 20a, is excluded by the control unit 16a.

[0061] The control unit 16a is designed to use a support point 28a, 94a assigned to the processing unit 12a in the work environment 26a of the processing unit 12a to check the localization of the processing unit 12a at the support point 28a, 94a required for processing the object 68a. The support points 28a, 94a are stored in the work environment model.The support points 28a, 94a represent positions that enable autonomous localization and / or autonomous operation of the autonomous work device 10a, in particular of the processing unit 12a and / or the movement unit 14a, in the entire work area 26a, in particular autonomous operation and / or autonomous navigation of the autonomous work device 10a, preferably of the processing unit and / or the movement unit, for processing the object, preferably for carrying out the processing plan, if localization of the autonomous work device 10a, in particular of the processing unit 12a and / or the movement unit 14a, at the support points 28a, 94a is possible.The control unit 16a is provided to check, at least at the support points 28a, 94a, in particular based on information of the work environment 26a acquired by the acquisition unit 30a, whether a localization of the autonomous work device 10a, in particular of the processing unit 12a and / or the movement unit 14a, is possible at the support points 28a, 94a based on the at least one test object 18a that can be classified as a localization reference object 20a.

[0062] The control unit 16a is provided to check for a need for additional localization reference elements 22a. The control unit 16a is provided to determine a need for additional localization reference objects 22a, in particular a number of additional localization reference elements 22a required for localizing the processing unit 12a in the sub-areas 90a, 92a, in which, in particular, localization of the processing unit 12a is excluded based on the at least one test object 18a classifiable as a localization reference object 20a.In particular, the control unit 16a is provided to determine a need for additional localization reference elements 22a, in particular a number of additional localization reference elements 22a required for localizing the processing unit 12a at the support points 28a, 94a of the working environment 26a, at which a localization of the processing unit 12a based on the at least one test object 18a classifiable as a localization reference object 20a is excluded, for the support points 28a, 94a, at which in particular a localization of the processing unit 12a based on the at least one test object 18a classifiable as a localization reference object 20a is excluded.

[0063] It is conceivable that the need for additional localization reference elements 22a comprises only one additional localization reference element 22a, two additional localization reference elements 22a, at least three additional localization reference elements 22a, or a plurality of additional localization reference elements 22a. The need for additional localization reference elements 22a depends on the processing plan. The additional localization reference elements 22a are objects specifically designed for localization. The additional localization elements 22a are designed as reflection markers, in particular as triple mirrors, as reflective foils, or the like.

[0064] The detection unit 30a is configured to detect the additional localization reference elements 22a. The control unit 16a is provided to control the processing unit 12a and / or the movement unit 14a to localize the processing unit 12a and / or the movement unit 14a in the work environment 26a and / or to process the object 68a by the processing unit 12a, in particular as needed, depending on the additional localization reference elements 22a mounted in the work environment 26a.

[0065] Subregions 90a, 92a, in particular support points 28a, 94a, of the working environment 26a, in / at which a localization of the autonomous work device 10a, preferably the processing unit 12a and / or the movement unit 14a, is possible by means of the control unit 16a based on the at least one test object 18a classified as a localization reference object 20a, are free from a need for additional localization reference elements 22a.

[0066] The control unit 16a is provided to determine a target mounting position for at least one additional localization reference element 22a depending on a check of the need for additional localization reference elements 22a. For example, the autonomous work device 10a comprises an output unit (not shown here). The output unit is designed, for example, as an optical output unit, an acoustic output unit, a haptic output unit, or as a combination thereof. The output unit has, for example, a screen, a lighting element, for example an LED or a laser, a loudspeaker, or the like. It is conceivable that the output unit is provided to output the target mounting position.For example, it is conceivable that the target assembly position is displayed on a screen of the output unit and / or that the output unit is configured to project the target assembly position in the work environment 26a. Alternatively or additionally, it is also conceivable that the autonomous work device 10a, in particular the processing unit 12a, is configured to at least partially automatically attach the additional localization reference element 22a to the target assembly position.

[0067] The autonomous work device 10a has an interface device 46a. The tool unit 44a is connected to the autonomous work device 10a, in particular to the manipulator unit 72a of the processing unit 12a, by means of the interface device 46a. The interface device 46a has a robot-tool connection unit 48a at least for a mechanical connection of the tool unit 44a to the autonomous work device 10a, in particular to the manipulator unit 72a. The robot-tool connection unit 48a is arranged on the manipulator unit 72a, preferably at a free end 118a of the manipulator unit 72a. The tool unit 44a, in particular the interface device 46a, is arranged on the free end 118a of the manipulator unit 72a.It is conceivable that the robot-tool connection unit 48a is designed as a rotary drive, an oscillatory drive or the like of the tool unit 44a, in particular of the tool.

[0068] The control unit 16a is provided to block or release a processing step 158a planned for the object 68a by the processing unit 12a depending on at least one surface characteristic of at least a portion of a surface 84a of the object 68a to be processed. The processing plan comprises at least the processing step 158a. The portion of the surface 84a has at least one area to be processed in the processing step 158a. In particular, if the surface characteristic determined for the portion of the surface 84a is within a limit range of a target value of the surface characteristic of the portion of the surface 84a, the control unit 16a is provided to release the planned processing step 158a.If, in particular, the surface characteristic determined for part of the surface 84a is outside a boundary range relative to the target value of the surface characteristic of part of the surface 84a, the control unit 16a is provided to block the planned processing step 158a. The target value of the surface characteristic of part of the surface 84a and / or the associated boundary range are stored, for example, on the memory element of the control unit 16a, in particular in the work environment model. The surface characteristic contains at least one piece of information relating to the flatness of part of the surface 84a. The flatness of a surface corresponds, in particular, to a value of a distance between two planes arranged parallel to one another, which are arranged at a minimum distance from one another, at which the entire surface is arranged within the two planes.Furthermore, it is alternatively or additionally conceivable for the surface parameter to contain information about a material of the part of the surface 84a or the like. The surface parameter or information for determining the surface parameter can be detected by the detection unit 30a, in particular the lidar unit of the detection unit 30a. An orientation of the detection unit 30a is preferably changeable, in particular adjustable. Preferably, the detection unit 30a has an adjustment unit (not shown here) for adjusting an orientation of the detection unit 30a. The adjustment unit 30a preferably has a servomotor. The adjustment unit 30a is preferably connected to the control unit 16a, at least for control purposes.Alternatively, it is conceivable that the detection unit 30a is arranged on the processing unit 12a, in particular on the manipulator unit 72a, in such a way that an orientation of the detection unit 30a can be changed, in particular adjusted, by means of the manipulator unit 72a. The control unit 16a is provided to adjust an orientation of the detection unit 30a, in particular by controlling the adjustment unit, at least for detecting the at least one surface characteristic. Alternatively, it is conceivable that the autonomous work device 10a has a further detection unit, in particular a further lidar unit or the like, which is separate from the detection unit 30a, for detecting the surface characteristic or the information for determining the surface characteristic.

[0069] If the flatness determined for part of surface 84a is within a limit range relative to a target value for the flatness of part of surface 84a, control unit 16a is provided to enable the planned processing step 158a. If the flatness determined for part of surface 84a is outside a limit range relative to the target value for the flatness of part of surface 84a, control unit 16a is provided to block the planned processing step 158a. The target value for the flatness of part of surface 84a and / or the associated limit range are stored, for example, on the memory element of control unit 16a, in particular in the work environment model.

[0070] The control unit 16a is provided to enable or block the processing step 158a planned for the object 68a by the processing unit 12a depending on the detection of an obstacle in a processing area 86a of the part of the surface 84a of the object 68a. Information about obstacle objects 96a in the processing area 86a can be detected by means of the obstacle detection. The detection unit 30a, in particular the lidar unit of the detection unit 30a, is provided to detect obstacle objects 96a during obstacle detection. Alternatively, it is conceivable for the autonomous work device 10a to have a further detection unit for obstacle detection, in particular a separate detection unit from the detection unit 30a.

[0071] The processing area 86a is a part of the work environment 26a, in particular an area around the part of the surface 84a in which the autonomous work device 10a, in particular the processing unit 12a and / or the movement unit 14a, moves during processing of the object 68a, in particular during execution of the planned processing step 158a. The part of the surface 84a is part of the processing area 86a. If an obstacle object 96a is detected in the processing area 86a during obstacle detection, the control unit 16a is provided to block the planned processing step 158a. If it can be determined during obstacle detection that the processing area 86a is free of obstacle objects 96a, the control unit 16a is provided to enable the planned processing step 158a.

[0072] If the flatness determined for part of surface 84a is outside a limit range relative to a target value for the flatness of part of surface 84a, control unit 16a is provided to block the planned processing step 158a. The target value for the flatness of part of surface 84a and / or the associated limit range are stored, for example, on the memory element of control unit 16a, in particular in the work environment model. Control unit 16a is provided to determine blocked movement areas for processing unit 12a depending on the obstacle detection. If an obstacle object 96a is detected in an area in the work environment 26a, control unit 16a is provided to classify the area as a blocked movement area.The control unit 16a is designed to control the processing unit 12a and / or the movement unit 14a such that the autonomous work device 10a, in particular the processing unit 12a and / or the movement unit 14a, are always located outside of areas of the work environment 26a classified as blocked movement areas. Information regarding blocked movement areas can be stored, for example, on the memory element of the control unit 16a, in particular in the work environment model.

[0073] The control unit 16a is designed to compare at least one piece of information from the obstacle detection with the work environment model. By comparing information from the obstacle detection with the work environment model, it can be determined whether an obstacle detected during obstacle detection is known in the work environment model.

[0074] It is conceivable that the control unit 16a is provided to enable or block the planned processing step 158a depending on a comparison of information from the obstacle detection with the work environment model. For example, it is conceivable that the control unit 16a enables the planned processing step 158a if the comparison of information from the obstacle detection with the work environment model reveals that an obstacle object 96a detected during the obstacle detection is already known in the work environment model. It is also conceivable, for example, that the control unit 16a is provided to block the planned processing step 158a if an obstacle object 96a detected during the obstacle detection is unknown in the work environment model.

[0075] Furthermore, it is conceivable that the control unit 16a is provided to make a correction to the planned processing step 158a depending on a comparison of the work environment model with the information from the obstacle detection. For example, it is conceivable that by comparing the work environment model with the information from the obstacle detection, a position deviation of an obstacle object 96a known in the work environment model from the obstacle object 96a detected in the work environment 26a by the detection unit 30a can be determined by the control unit 16a.For example, the control unit 16a is provided to correct a processing coordinate, a processing angle, a processing duration, a processing intensity or the like of the planned processing step 158a depending on the comparison of the work environment model with the information from the obstacle detection, in particular depending on a position deviation, determined by means of the control unit 16a, of an obstacle object 96a known in the work environment model from the obstacle object 96a detected by means of the detection unit 30a in the work environment 26a.

[0076] The robot-tool connection unit 48a is designed to be modularly expandable for arranging different interface function modules. The interface modules can be detachably attached to the robot-tool connection unit 48a. It is conceivable that at least some of the interface modules can be attached to the robot-tool connection unit 48a without tools and / or detached from the robot-tool connection unit 48a without tools. At least some of the interface modules, when arranged on the robot-tool connection unit 48a, are connected to the control unit 16a for data and / or control purposes, in particular wirelessly and / or without cables. The control unit 16a is provided for controlling at least some of the interface modules.When the tool unit 44a is arranged on the robot-tool connection unit 48a, it is connected to the control unit 16a in terms of data and / or control technology, in particular wirelessly and / or via a cable. It is conceivable that at least some of the interface modules have at least one valve for controlling the function of the respective interface module. It is conceivable that the robot-tool connection unit 48a, in particular the control unit 16a, is configured to automatically detect a connection to one of the interface modules. Furthermore, it is conceivable that the robot-tool connection unit 48a, in particular the control unit 16a, is configured to automatically identify an interface module connected to the robot-tool connection unit 48a.

[0077] The robot-tool connection unit 48a has at least one module interface (not shown here), preferably a plurality of module interfaces, for fastening at least one interface module, preferably a plurality of interface modules. The at least one module interface is preferably configured for at least a mechanical connection to at least one of the interface modules. It is conceivable that the at least one module interface is configured for an electrical connection to at least one of the interface modules, for example for supplying electrical power to the at least one interface module that can be arranged at the module interface. The at least one module interface is preferably configured for a data and / or control connection to at least one interface module arranged at the module interface.

[0078] The interface device 46a has a sensor module 50a for detecting an environmental parameter and / or the tool unit 44a. The sensor module 50a is one of the interface modules mentioned above. Alternatively, it is also conceivable for the interface device 46a to be designed without a sensor module 50a.The environmental parameter can, for example, include information about a distance of the tool unit 44a from the object 68a to be processed or another object in the work environment 26a, a temperature, in particular a temperature of the object 68a, another object and / or ambient air, an air humidity, a force acting on the robot-tool connection unit 48a, for example when processing the object 68a by means of the processing unit 12a, information about a gas composition in the ambient air, in particular about hazardous gases in the ambient air, an ambient air pressure, information about persons located in the work area 26a, a combination of these or the like.

[0079] The sensor module 50a can, for example, detect an at least mechanical and / or electrical connection between the robot-tool connection unit 48a and the tool unit 44a. When the sensor module 50a is arranged on the robot-tool connection unit 48a, the sensor module 50a is connected to the control unit 16a, at least in terms of data transmission, in particular wirelessly and / or via a cable. The sensor module 50a preferably has an optical sensor unit, for example a lidar unit, a laser interferometer, or the like, and / or a capacitive sensor unit, preferably for detecting the tool unit 44a, in particular for detecting information relating to a connection between the robot-tool connection unit 48a and the tool unit 44a.The optical sensor unit can be provided for detecting information about the distance of the tool unit 44a from the object 68a to be machined or another object in the work environment 26a, or the like. Sensor elements of the sensor module 50a, in particular the optical sensor unit, are arranged on the robot tool connection unit 48a in a vibration-decoupled manner relative to the tool unit 44a and / or the robot tool connection unit 48a. Alternatively or additionally, it is conceivable for the sensor module 50a to comprise a temperature sensor, a humidity sensor, a barometer, a force sensor, a gas sensor, or the like, or a combination thereof.

[0080] The interface device 46a has a power supply module 52a for transmitting power to the tool unit 44a, in particular the handheld power tool 122a, arranged on the robot-tool connection unit 48a. The power supply module 52a is one of the above-mentioned interface modules. Alternatively, it is also conceivable for the interface device 46a to be designed without a power supply module 52a. The tool unit 44a, in particular the handheld power tool 122a, can be supplied with electrical power via the power supply module 52a. The power supply module 52a has at least one electrical interface (not shown here) for an electrical connection to the tool unit 44a, preferably the handheld power tool 122a, in particular a power cable or a battery pack interface, of the tool unit 44a, in particular the handheld power tool 122a.It is conceivable that the energy supply module 52a draws energy, in particular electrical energy, from an energy storage device (not shown here) of the autonomous work device 10a and / or that the energy supply module 52a has its own energy storage device, for example a rechargeable battery, a battery, a solar module, or the like. It is conceivable that the energy supply module 52a is connected to the control unit 16a for control and / or data purposes, in particular wirelessly and / or by cable, preferably at least when the energy supply module 52a is arranged on the robot-tool connection unit 48a. Alternatively, it is conceivable that the energy supply module 52a is designed to be free of any data and / or control connection to the control unit 16a.

[0081] The interface device 46a has a fluid transmission module 54a for transmitting a fluid from the tool unit 44a arranged on the robot-tool connection unit 48a, in particular from the handheld power tool 122a. The fluid transmission module 54a is one of the above-mentioned interface modules. Alternatively, it is also conceivable for the interface device 46a to be designed without a fluid transmission module 54a. The fluid transmission module 54a is one of the interface modules. The fluid transmission module 54a has at least one fluidic interface (not shown here) for a fluidic connection to a suction element 136a, for example a hose, a pipe, an air connection piece, or the like, of the tool unit 44a, in particular of the handheld power tool 122a.The fluid transmission module 54a is provided for suctioning away material removed, in particular by processing the object 68a by the processing unit 12a, in particular the tool unit 44a. The fluid transmission module 54a has a further fluidic interface (not shown here) for a fluidic connection to a suction unit (not shown here), in particular a suction hose 140a of the suction unit. It is conceivable that the suction unit is part of the autonomous working device 10a or that the suction unit is designed separately from the autonomous working device 10a. Alternatively, it is also conceivable that the fluid transmission module 54a has the suction unit. The suction unit has, for example, a fan or the like, in particular to generate an air flow for suctioning away material removed. It is conceivable that the suction unit is designed as a vacuum cleaner or the like.The fluid transfer module 54a is provided for connecting the tool unit 44a, in particular the suction element 136a, to the suction unit. It is conceivable that the fluid transfer module 54a has at least one valve for controlling the function of the fluid transfer module 54a, in particular for regulating, preferably enabling, and / or blocking, fluid transfer through the fluid transfer module 54a. It is conceivable that the fluid transfer module 54a, in particular the valve of the fluid transfer module 54a, is connected to the control unit 16a for control and / or data purposes, preferably at least when the fluid transfer module 54a is arranged on the robot-tool connection unit 48a.

[0082] Alternatively or additionally, it is conceivable that the fluid transfer module 54a is configured to transfer a fluid, in particular a liquid, preferably water, and / or air, to the tool unit 44a arranged on the robot-tool connection unit 48a, for example for cleaning the tool and / or the object 68a to be machined, in particular during machining by the machining unit 12a, in particular the tool unit 44a. For example, the tool unit 44a has a blow-out lance (not shown here) or the like, which is provided for blowing material removed from a borehole created by the machining unit 12a, preferably by means of air transmitted via the fluid transfer module 54a.

[0083] Furthermore, it is alternatively or additionally conceivable that the fluid transmission module 54a is provided for a fluidic drive of a tool unit 44a arranged on the robot-tool connection unit 48a, in particular one designed to be fluidic-driven. It is conceivable, for example, that a pneumatically drivable tool unit 44a can be pneumatically driven by means of the fluid transmission module 54a or can be connected to a pneumatic drive unit via the fluid transmission module 54a. The pneumatic drive unit can be part of the autonomous work device 10a or designed separately from the autonomous work device 10a. For example, it is also conceivable that a hydraulically drivable tool unit 44a can be hydraulically driven by means of the fluid transmission module 54a or can be connected to a hydraulic drive unit via the fluid transmission module 54a.The hydraulic drive unit can be part of the autonomous work device 10a or configured separately from the autonomous work device 10a. The interface device 46a has a detection module 56a for identifying the tool unit 44a arranged on the robot-tool connection unit 48a, in particular the handheld power tool 122a. The detection module 56a is one of the above-mentioned interface modules. Alternatively, it is also conceivable for the interface device 46a to be configured without a detection module 56a. The detection module 56a is connected to the control unit 16a for data transmission, in particular wirelessly and / or via a cable, at least when arranged on the robot-tool connection unit 48a.The detection module 56a can, for example, identify the tool unit 44a using RFID, mechanical coding, optical detection, or the like, at least when the tool unit 44a is arranged on the robot-tool connection unit 48a. The detection module 56a is configured, for example, to identify at least one tool type, a serial number, or the like of the tool unit 44a, in particular of the handheld power tool 122a, when identifying the tool unit 44a.

[0084] Alternatively or additionally, it is conceivable for the interface device 46a to have a material feed module 58a for feeding material to the tool unit 44a arranged on the robot-tool connection unit 48a. The material feed module 58a is one of the above-mentioned interface modules. For example, the material feed module 58a is configured to feed dowels, paint, adhesive, concrete, or the like. It is conceivable for the material feed module 58a to be connected to a material reservoir, which, for example, is part of the autonomous work device 10a or is designed separately from the autonomous work device 10a, or even has a material reservoir itself. The material reservoir contains, in particular, the material to be conveyed to the tool unit 44a via the material feed module 58a.For example, a material can be fed to the tool unit 44a via the material feed module 58a by means of a conveying unit, in particular a pump, a compressor, or the like. It is conceivable that the conveying unit is part of the material feed module 58a, part of the autonomous work device 10a, or is designed separately from the autonomous work device 10a. It is conceivable that the material feed module has at least one valve for controlling the function of the material feed module 58a, in particular to regulate, preferably release, or block, a material transfer through the material feed module 58a. It is conceivable that the material feed module 58a, in particular the valve of the material feed module 58a, is connected to the control unit 16a in terms of control technology and / or data technology, preferably at least when the material feed module 58a is arranged on the robot-tool connection unit 48a.

[0085] A connection between the tool unit 44a and the robot-tool connection unit 48a can be established and / or released manually and / or at least partially automatically. It is conceivable for the autonomous work device 10a to have a tool magazine (not shown here). Alternatively, it is conceivable for the tool magazine to be designed separately from the autonomous work device 10a, preferably positioned stationary in the work environment 26a. The tool magazine has, for example, a plurality of different tool units. The interface device 46a is designed such that the tool units from the tool magazine can be coupled manually and / or automatically to the robot-tool connection unit 48a. At least one mechanical connection between the tool unit 44a and the robot-tool connection unit 48a can be established, for example, by means of a snap-in connection, a clamping connection, a bayonet lock, or the like.The locking connection can be established, for example, by a locking hook and / or a ball catch. A connection between the robot-tool connection unit 48a and the tool unit 44a is preferably based on the poka-yoke principle. It is conceivable for the robot-tool connection unit 48a to have a servo motor or the like for automatically releasing the connection between the tool unit 44a and the robot-tool connection unit 48a. Alternatively or additionally, it is conceivable for the mechanical connection between the tool unit 44a and the robot-tool connection unit 48a to be automatically released by mechanical contact between the tool unit 44a and / or the robot-tool connection unit 48a and an object.

[0086] The interface device 46a has a cleaning unit 60a. The cleaning unit 60a is provided to at least partially automatically clean the robot-tool connection unit 48a and / or the tool unit 44a when the robot-tool connection unit 48a is connected to the tool unit 44a. The cleaning unit 60a is configured for fluidic cleaning. The cleaning unit 60a has a fluid channel 142a. The fluid channel preferably runs at least partially through the robot-tool connection unit 48a. By approaching the tool unit 44a to the robot-tool connection unit 48a, an air flow can be generated in the fluid channel, which can be used in particular for cleaning the tool unit 44a and / or the robot-tool connection unit 48a. Alternatively, it is also conceivable for the interface device 46a to be designed without a cleaning unit 60a.It is conceivable that the cleaning unit 60a is designed as one of the interface modules.

[0087] Figure 4 shows a schematic sequence of a method for at least partially automatically processing the object 68a, in particular for at least partially automatically creating boreholes in the object 68a by means of the autonomous working device 10a, in particular by means of the processing unit 12a.

[0088] In a method step, in particular in a classification step 100a, the test object 18a is classified as a localization reference object 20a depending on a comparison of the target characteristic of the at least one test object 18a in the working environment of the processing unit 12a and the actual characteristic of the at least one test object 18a.

[0089] In a method step, in particular a checking step 98a, a need for additional localization reference elements 22a is checked. Preferably, in particular in the checking step 98a, sub-areas 90a, 92a of the work environment 26a are identified by means of the control unit 16a, in which a localization of the processing unit 12a is possible using the at least one test object 18a. In particular, preferably in the checking step 98a, a check is carried out to determine whether a localization of the processing unit 12a is possible using the at least one test object 18a classified as a localization reference object 20a in the sub-areas 90a, 92a relevant for the processing of the object 68a, in particular for the implementation of the processing plan, preferably at the support points 28a, 94a relevant for the processing of the object 68a, in particular for the implementation of the processing plan.

[0090] In one method step, in particular in an assembly planning step 102a, a target assembly position for the at least one additional localization reference element 22a is determined by means of the control unit 16a, at least depending on a review of the need for additional localization reference elements 22a. It is conceivable that in one method step, in particular in the assembly planning step 102, a target assembly position determined for the at least one additional localization reference element 22a is output via the output unit, projected onto the target assembly position in the work environment 26a, and / or stored in the work environment model.

[0091] In a method step, in particular in an assembly step 134a, the at least one additional localization reference element 22a is fastened to the desired assembly position of the additional localization reference element 22a, for example manually by a user or automatically by the autonomous working device 10a, in particular by the processing unit 12a.

[0092] In one method step, in particular in a work step 104a, the object 68a is processed by the processing unit 12a. In the object 68a, in particular in the work step 104a, at least one borehole is created by the processing unit 12a. The processing unit 12a and / or the movement unit 14a are controlled by the control unit 16a, in particular in the work step 104a, during the processing of the object 68a and / or for localization in the work environment, depending on the at least one test object 18a classified as a localization reference object 20a and / or depending on the at least one additional localization reference element 22a.

[0093] Figure 5 shows a schematic sequence of a method, in particular of work step 104a from Figure 4, for at least partially automatically processing the object 68a, in particular for at least partially automatically creating boreholes in the object 68a by means of the autonomous work device 10a. In a method step, in particular in a release step 138a, the processing step 158a planned for the object 68a is blocked or released by the processing unit 12a depending on at least one surface characteristic of at least part of the surface 84a of the object 68a.

[0094] In a method step, in particular in a correction step 106a, the planned processing step is corrected depending on the comparison of the information from the obstacle detection in the processing area 86a of the processing unit 12a with the working environment model.

[0095] In a method step, in particular in the processing step 158a, the planned processing step 158a, which may be corrected in the correction step 106a, is carried out.

[0096] Further exemplary embodiments of the invention are shown in Figures 6 to 13. The following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, whereby with regard to components with the same designation, in particular with regard to components with the same reference numerals, reference can in principle also be made to the drawings and / or the description of the other exemplary embodiments, in particular Figures 1 to 5. To distinguish the exemplary embodiments, the letter a is placed after the reference numerals of the exemplary embodiment in Figures 1 to 5. In the exemplary embodiments in Figures 6 to 13, the letter a is replaced by the letters b to e.

[0097] Figure 6 shows a system 36b with an autonomous working device. Alternatively, it is also conceivable for the working device 10b to be designed as a manual working device 10b and with at least one localization reference element 22b. The autonomous working device 10b is designed as a construction site robot, in particular as a drilling robot. Alternatively, however, it is also conceivable for the autonomous working device 10b to be designed as a construction site robot different from a drilling robot, for example as a painting robot, as a window cleaning robot, as a sweeping robot, as an outdoor area robot, for example as a mulching robot, as a hedge trimming robot, as a snow clearing robot, as a collecting robot, in particular for collecting leaves, branches or the like, as a combination of these, or as another autonomous working device 10b that appears appropriate to a person skilled in the art. The autonomous working device 10b has a processing unit 12b.The processing unit 12b has a drilling unit 88b, in particular, it is designed as a drilling unit 88b. The autonomous working device 10b has a movement unit 14b for moving the processing unit 12b. The autonomous working device 10b has a control unit 16b for at least controlling the processing unit 12b.

[0098] The autonomous work device 10b has a detection unit 30b arranged on the movement unit 14b for detecting the at least one localization reference element 22b. The detection unit 30b has, for example, a theodolite, a tachymeter, or the like for detecting the localization reference element 22b. The detection unit 30b, in particular the theodolite or the tachymeter, is configured for automatically detecting the localization reference element 22b, in particular by means of the control unit 16b. The localization reference element 22b is designed, for example, as a reflection marker, in particular as a triple mirror, as reflective foils, or the like.

[0099] The control unit 16b is provided to control the processing unit 12b and / or the movement unit 14b to move the processing unit 12b and / or the movement unit 14b within one of the work environments 26b and / or to process an object 68b by the processing unit 12b depending on the at least one localization reference element 22b arranged in the work environment 26b. Alternatively or additionally, however, it is also conceivable for the detection unit 30b to have a lidar unit, a stereo camera, a time-of-flight camera, a camera system based on fringe projection, and / or other detection means that appear appropriate to a person skilled in the art for localizing the autonomous work device 10b, in particular the movement unit 14b and / or the processing unit 12b.The control unit 16b is provided to evaluate the information acquired by the acquisition unit 30b based on a simultaneous localization and mapping (SLAM) method, preferably relating to a movement of the autonomous work device 10b, preferably the processing unit 12b and / or the movement unit 14b, to a working position of the autonomous work device 10b, in particular the movement unit 14b. The working position of the autonomous work device 10b only contains information relating to a position of the autonomous work device 10b, in particular the movement unit 14b. The working position is free of information relating to an orientation, in particular to rotational positions, of the processing unit 12b, preferably to the part of the processing unit 12b. The working position is stored in the processing plan, in particular in the work environment model.The control unit 16b is provided to move the autonomous work device 10b, in particular the processing unit 12b and / or the movement unit 14b, to the working position for processing the at least one object 68b depending on the processing plan and depending on the information acquired by the acquisition unit 30b.

[0100] The control unit 16b is provided to determine a position and an orientation of at least a part of the processing unit 12b, at least as a function of the localization reference element 22b detected by the detection unit 30b. The determination of a position and an orientation of at least the part of the processing unit 12b comprises determining a position and all rotational positions of the part of the processing unit 12b. The part of the processing unit 12b corresponds here, for example, to a tool unit 44b of the processing unit 12b, in particular to a tool, in particular a tool of the tool unit 44b arranged on a handheld power tool of the tool unit 44b.The control unit 16b is provided to determine the position and orientation of at least part of the processing unit 12b after moving the autonomous work device 10b, in particular the processing unit 12b and / or the movement unit 14b, to the working position, preferably with a fixed position of the movement unit 14b. The autonomous work device 10b has a height-adjustable work platform 32b. The work platform 32b is arranged on the movement unit 14b. The detection unit 30b is arranged on the work platform 32b. A manipulator unit 72b of the processing unit 12b is arranged on the work platform 32b. The work platform 32b is height-adjustable relative to a base 150b on which the autonomous work device 10b, in particular the movement unit 14b, is arranged. The autonomous working device 10b has a lifting unit 144b.The work platform 32b is height-adjustable by means of the lifting unit 144b. The lifting unit 144b has a telescopic rod 146b. The telescopic rod 146b is designed as a hydraulic telescopic rod. Alternatively, it is also conceivable for the lifting unit 144b to have more than one telescopic rod 146b. Furthermore, it is alternatively or additionally conceivable for the lifting unit 144b to have a scissor lifting mechanism, a linear drive, for example a rack and pinion, a rigid chain, a ball screw drive, a linear motor, or the like. The work platform 32b is connected to the movement unit 14b via the lifting unit 144b, in particular the telescopic rod 146b. The lifting unit 144b is connected to the control unit 16b for control purposes, in particular wirelessly and / or via a cable. The lifting unit 144b is part of the processing unit 12b.Alternatively, it is also conceivable that the work platform 32b is arranged on the manipulator unit 72b of the processing unit 12b in such a way that the work platform 32b is height-adjustable by means of the manipulator unit 72b. The manipulator unit 72b is designed as a robot arm. The manipulator unit 72b has multi-axis kinematics. The manipulator unit 72b has six degrees of freedom. Alternatively, however, it is also conceivable that the manipulator unit 72b has fewer than six degrees of freedom.

[0101] The autonomous work device 10b has an inclinometer 34b. The inclinometer 34b is provided for determining an inclination relative to a mounting plane 42b of the autonomous work device 10b, in particular the movement unit 14b. The control unit 16b is provided for determining the position and orientation of at least part of the processing unit 12b in a work environment model as a function of measured variables determined by the detection unit 30b and the inclinometer 34b. The inclinometer 34b can be designed as a mechanical inclinometer, an electrical inclinometer, or a digital inclinometer.

[0102] The control unit 16b is provided to utilize at least one measured variable of the inclinometer 34b to vertically align the manipulator unit 72b of the processing unit 12b. The control unit 16b is provided to transform a coordinate system of the manipulator unit 72b into a vertical position depending on an inclination of the manipulator unit 72b relative to the installation plane 42b, as determined by the inclinometer 34b. The autonomous work device 10b, in particular the movement unit 14b, is preferably located in a fixed position when measured variables are detected by the inclinometer 34b and / or the detection unit 30b for determining a position and an orientation of at least part of the processing unit.

[0103] The control unit 16b is provided to process at least one measured variable of the inclinometer 34b to support the detection of the at least one localization reference element 22b. The at least one measured variable of the inclinometer 34b can be used to support the automatic detection of the at least one localization reference element 22b by the detection unit 30b using the control unit 16b.

[0104] The control unit 16b is provided to check for a need for additional localization reference elements 108b. The control unit 16b is provided to check and / or determine a need for additional localization reference elements 108b depending on the processing plan, in particular depending on the at least one work position.The control unit 16b is provided to determine, depending on the processing plan, preferably depending on the at least one work position, and / or based on information on the work environment 26b determined by the detection unit 30b, at least one need for additional localization reference elements 108b, which the control unit 16b requires in order to enable the determination of the position and orientation of the part of the processing unit 12b in the entire work environment 26b or in a part of the work environment 26b relevant with regard to processing of the at least one object 68b. The extent of the part of the work environment 26b relevant with regard to processing of the at least one object 68b depends in particular on the processing plan, preferably on the at least one work position.

[0105] The control unit 16b is provided to determine a target mounting position for at least one additional localization reference element 108b depending on a check of the need for additional localization reference elements 108b. For example, the autonomous work device 10b comprises an output unit (not shown here). The output unit is designed, for example, as an optical output unit, an acoustic output unit, a haptic output unit, or as a combination thereof. The output unit has, for example, a screen, a loudspeaker, a lighting element, for example an LED, or the like. It is conceivable that the output unit is provided to output the target mounting position.For example, it is conceivable that the target mounting position is displayed on a screen of the output unit and / or that the output unit is configured to project the target mounting position in the work environment 26b. Alternatively or additionally, it is also conceivable that the autonomous work device 10b, in particular the processing unit 12b, is configured to at least partially automatically attach the additional localization reference element 108b to the target mounting position.

[0106] The control unit 16b is provided to determine an actual position of the additional localization reference element 108b using the detection unit 30b, in particular the theodolite or the tachymeter. The control unit 16b is provided to store the actual position of the additional localization reference element 108b on the memory element of the control unit 16b, in particular in the work environment model. The additional localization reference element 108b can be used to localize the autonomous work device 10b, in particular the processing unit 12b and / or the movement unit 14b, in the work environment 26b and / or to determine the position and orientation of at least part of the processing unit 12b.

[0107] Figure 7 shows a schematic sequence of a method for at least partially automatically processing the object 68b, in particular for at least partially automatically creating boreholes in the object 68b by means of the autonomous working device 10b.

[0108] In a method step, in particular in a localization step 160b, the autonomous work device 10b, in particular the movement unit 14b, is moved in the work environment 26b as a function of information relating to the work environment 26b acquired by the detection unit 30b, in particular as a function of the at least one localization reference element 22b, preferably by means of a control by the control unit 16b. The autonomous work device 10b, preferably the movement unit 14b, is controlled by the control unit 16b, in particular in the localization step 160b, to move the autonomous work device 10b to the working position of the processing unit 12b as a function of information acquired by the detection unit 30b.It is conceivable that, in particular in the localization step 106b, a measurement variable determined by means of the inclinometer 34b is processed by the control unit 16b to support an automatic detection of the at least one localization reference element 22b by the detection unit 30b.

[0109] In a method step, in particular in a position determination step 110b, a position and an orientation of at least part of the processing unit 12b are determined, at least as a function of the localization reference element 22b detected by the detection unit 30b arranged on the movement unit 14b. The autonomous work device 10b, in particular the movement unit 14b, is located in a fixed position, in particular at the working position, particularly when measured variables are detected by the inclinometer 34b and / or the detection unit 30b for determining a position and an orientation of at least part of the processing unit 12b.

[0110] In a method step, in particular in a work step 104b, the object 68b is processed by the processing unit 12b. In the object 68b, in particular in the work step 104b, at least one borehole is created by the processing unit 12b. The processing unit 12b and / or the movement unit 14b are / are controlled by the control unit 16b during the processing of the object 68b, in particular in the work step 104b, depending on the position and orientation of at least part of the processing unit 12b in the work environment model, as determined in particular in the position determination step 110b.

[0111] Figure 8 shows an autonomous working device 10c. Alternatively, it is also conceivable for the working device 10c to be designed as a manual working device 10c. The autonomous working device 10c is designed as a construction site robot, in particular as a drilling robot. Alternatively, however, it is also conceivable for the autonomous working device 10c to be designed as a construction site robot different from a drilling robot, for example as a painting robot, a window cleaning robot, a sweeping robot, an outdoor robot, for example as a mulching robot, a hedge trimming robot, a snow removal robot, a collecting robot, in particular for collecting leaves, branches or the like, as a combination of these, or as another autonomous working device 10c that appears appropriate to a person skilled in the art. The autonomous working device 10c has a processing unit 12c. The processing unit 12c is designed as a drilling unit.

[0112] The autonomous working device 10c has a movement unit 14c for moving the processing unit 12c. The autonomous working device 10c has a control unit 16c for at least controlling the processing unit 12c.

[0113] The autonomous work device 10c has at least one detection unit 30c. The control unit 16c is provided to control the autonomous work device 10c, in particular the movement unit 14c and / or the processing unit 12c, depending on information detected by the detection unit 30c. The detection unit 30c is at least partially designed as an optical detection unit. The detection unit 30c has, for example, at least one lidar unit for detecting a work environment 26c. Alternatively or additionally, it is also conceivable for the detection unit 30c to have a stereo camera, a time-of-flight camera, a camera system based on fringe projection, and / or other detection means that appear appropriate to a person skilled in the art.The control unit 16c is provided to evaluate the information acquired by the detection unit 30c, in particular the lidar unit, based on a simultaneous localization and mapping (SLAM) method. The simultaneous localization and mapping (SLAM) method is, in particular, a method for simultaneous position determination and map creation in robotics, wherein, in particular within the method, a virtual map of an environment and a spatial position of a movable unit, in particular the autonomous work device 10c, within the virtual map are determined, preferably simultaneously. The control unit 16c is provided to control the movement unit 14c during a movement in the work environment 26c depending on information about the work environment 26c acquired by the detection unit 30c, preferably the lidar unit.

[0114] The autonomous work device 10c has an inclinometer 34c. The inclinometer 34c is provided for determining an inclination relative to a mounting plane 42c of the autonomous work device 10c, in particular the locomotion unit 14c. The inclinometer 34c can be designed as a mechanical inclinometer, an electrical inclinometer, or a digital inclinometer.

[0115] The autonomous work device 10c has a rangefinder 38c. The rangefinder 38c is designed as an electro-optical rangefinder, in particular as a laser interferometer. Alternatively, it is also conceivable for the rangefinder 38c to be designed as an optical rangefinder. The rangefinder 38c is provided for determining a distance to objects in the work environment. The rangefinder 38c is arranged on the processing unit 12c. The control unit 16c is provided for determining a position and an orientation of at least a portion of the processing unit 12c in a work environment model depending on measured variables determined by means of the inclinometer 34c and the rangefinder 38c. The determination of a position and an orientation of at least the portion of the processing unit 12c comprises determining a position and all rotational positions of the portion of the processing unit 12c.The part of the processing unit 12c here corresponds, for example, to a tool unit 44c of the processing unit 12c, in particular to a tool, for example a tool arranged on a hand-held power tool, of the tool unit 44c.

[0116] The control unit 16c is provided to use at least one measured variable of the inclinometer 34c to align the distance meter 38c. The control unit 16c is provided to use at least one measured variable of the inclinometer 34c to vertically align a manipulator unit 72c of the processing unit 12c. The control unit 16c is provided to transform a coordinate system of the manipulator unit 72c into a vertical position depending on an inclination of the manipulator unit 72c relative to the installation plane 42c, as determined by the inclinometer 34c. The control unit 16c is provided to control the processing unit 12c and / or the movement unit 14c after transforming the coordinate system of the manipulator unit 72c into the vertical position to move the processing unit 12c to a processing position of the processing unit 12c.

[0117] The processing position only contains information about a position of the autonomous work device, in particular the processing unit 12c. The processing position is at least free of information about an orientation, in particular about rotational positions, of the processing unit 12c, preferably about the part of the processing unit 12c. The processing position is stored in the processing plan, in particular in the work environment model. The autonomous work device 10c, in particular the movement unit 14c, is located in a fixed position, in particular when measuring variables by the inclinometer 34c and / or the distance meter 38c for determining a position and an orientation of at least the part of the processing unit 12c.

[0118] The distance meter 38c is provided, when the distance meter 38c is aligned by means of the inclinometer 34c, to detect a measured variable in at least two different angular positions for determining the position and orientation of the part of the processing unit 12c in the work environment model. The distance meter 38c is arranged, particularly when aligned by means of the inclinometer 34c, such that a detection direction of the distance meter 38c, when the manipulator unit 72c is vertically aligned, extends in a plane that is at least substantially perpendicular to the axis 40c upon rotation of the manipulator unit 72c about an axis 40c. The axis 40c extends in the vertical direction.The control unit 16c is provided to control the manipulator unit 72c to rotate about the axis 40c, so that the distance meter 38c detects a measured value in at least two different angular positions. The control unit 16c is provided to determine an actual position of at least one object classified as a localization reference object 20c in the work environment model in the work environment 26c and, in particular, to compare it with a target position from the work environment model.

[0119] The object classified as a localization reference object 20c can be, for example, a wall, the object to be processed, a ceiling, a floor, a facade, another, preferably fixed, part of a building, or a fixed, in particular stationary, object in the work environment 26c. It is conceivable that objects can be classified as a localization reference object 20c automatically by the autonomous work device 10c and / or manually by a user. An object is classified as a localization reference object 20c by means of the control unit 16c, in particular by comparing a target characteristic of the object and an actual characteristic of the object. The control unit 16c is provided to determine a deviation of the actual characteristic from the target characteristic when comparing the target characteristic of the object with the actual characteristic of the object.The control unit 16c is provided to classify the object as a localization reference object 20c if a value of the deviation of the actual characteristic from the target characteristic lies within a tolerance range with respect to a value of the target characteristic. If a value of the deviation of the actual characteristic from the target characteristic lies outside the tolerance range with respect to a value of the target characteristic, the object is excluded, in particular, from classification as a localization reference object 20c by the control unit 16c. The tolerance range is defined in the operating program, in particular stored in the work environment model. It is conceivable that the tolerance range is adaptable, in particular manually by an operator and / or automatically by the control unit 16c, for example depending on information stored in the work environment model.It is also conceivable that different tolerance ranges are assigned to different objects in the working environment 26c in the working environment model.

[0120] The control unit 16c is provided to determine a normal of the localization reference object 20c from the comparison of the actual position with the target position. The control unit 16c is provided to use the actual position of the object classified as the localization reference object 20c in the work environment 26c and its normal to determine the position and orientation of the part of the processing unit 12c in the work environment model. Preferably, the control unit 16c is provided to convert a set of coordinates from the processing plan into the coordinate system of the manipulator unit 72c, in particular into a coordinate system of at least the part of the processing unit 12, from the determined orientation and position of at least the part of the processing unit 12c.The control unit 16c is preferably provided to control the processing unit 12c and / or the movement unit 14c to process an object 68c depending on the determined orientation and position of at least part of the processing unit 12c.

[0121] The autonomous work device 10c has a height-adjustable work platform 32c. The work platform 32c is arranged on the movement unit 14c. The rangefinder 38c is arranged on the work platform 32c. The rangefinder 38c is arranged on the manipulator unit 72c, in particular at a free end 118c of the manipulator unit 72c. The inclinometer 34c is arranged on the work platform 32c. The inclinometer 34c is arranged on the manipulator unit 72c, in particular at the free end 118c of the manipulator unit 72c. Alternatively, it is also conceivable that the inclinometer 34c is arranged separately from the manipulator unit 72c, in particular the processing unit 12c, on the work platform 32c or that the inclinometer 34c is arranged on, in particular in, a housing 152c of the autonomous work device 10c, in particular the movement unit 14c.Figure 9 shows a schematic sequence of a method for at least partially automatically processing the object, in particular for at least partially automatically creating boreholes in the object by means of the autonomous working device 10c.

[0122] In a method step, in particular in a localization step 160c, the autonomous working device 10c, in particular the movement unit 14c, is moved in the working environment 26c as a function of information relating to the working environment 26c acquired by the detection unit 30c, preferably the lidar unit, preferably by means of a control by the control unit 16c. The autonomous working device 10c, preferably the movement unit 14c, is controlled, in particular in the localization step 160c, by the control unit 16c to move the autonomous working device 10c to an area of ​​the processing position of the processing unit 12c as a function of information acquired by the detection unit 30c, preferably the lidar unit.

[0123] In one method step, in particular in a detection step 112c, the rangefinder 38c is aligned by means of the inclinometer 34c before detecting a measured variable. The rangefinder 38c is rotated about the axis 40c, in particular in the detection step 112c, to detect one measured variable in each of the at least two angular positions. The rangefinder 38c detects at least one measured variable in at least two different angular positions, in a state aligned by means of the inclinometer 34c, in particular in the detection step 112c.

[0124] The autonomous working device 10c, in particular the movement unit 14c, is located in a fixed position, in particular when measuring variables are detected by the inclinometer 34c and / or the distance meter 38c to determine a position and an orientation of at least part of the processing unit 12c.

[0125] In a method step, in particular in a position determination step 110c, the position and orientation of at least part of the processing unit 12c in the work environment model are determined as a function of measured variables determined by means of the inclinometer 34c and by means of the distance meter 38c.

[0126] In a method step, in particular in a work step 104c, the object 68c is processed by the processing unit 12c. In the object 68c, in particular in the work step 104c, at least one borehole is created by the processing unit 12c. The processing unit 12c and / or the movement unit 14c are controlled by the control unit 16c, in particular in the work step 104c, during the processing of the object 68c depending on the position and orientation of at least part of the processing unit 12c in the work environment model, as determined in particular in the position determination step 110c.

[0127] Figure 10 shows a system 36d with an autonomous working device 10d. Alternatively, it is also conceivable for the working device 10d to be designed as a manual working device 10d. The autonomous working device 10d is designed as a construction site robot, in particular as a drilling robot. Alternatively, however, it is also conceivable for the autonomous working device 10d to be designed as a construction site robot different from a drilling robot, for example as a painting robot, as a window cleaning robot, as a sweeping robot, as an outdoor robot, for example as a mulching robot, as a hedge trimming robot, as a snow removal robot, as a collecting robot, in particular for collecting leaves, branches or the like, as a combination of these, or as another autonomous working device 10d that appears appropriate to a person skilled in the art.

[0128] The autonomous work device 10d has a processing unit 12d. The processing unit 12d is designed as a drilling unit. The autonomous work device 10d has a movement unit 14d for moving the processing unit 12d. The autonomous work device 10d has a control unit 16d at least for controlling the processing unit 12d. The autonomous work device 10d is provided for at least partially automatically processing an object 68d, in particular by means of the processing unit 12d. The autonomous work device 10d is provided here, for example, for at least partially automatically creating drill holes in the object 68d. The processing unit 12d is provided, for example, to process at least the object 68d according to a processing plan. The processing plan is stored, for example, on the memory element of the control unit 16d.A work environment model of a work environment 26d of the autonomous work device 10d, in particular of the processing unit 12d, is stored on the control unit 16d, in particular the memory element of the control unit 16d. The work environment model is a Building Information Modeling (BIM) model or the like. The processing plan is recorded in the work environment model. The control unit 16d is intended to navigate the movement unit 14d and / or the processing unit 12d in the work environment 26d, at least based on the processing plan and / or the work environment model.

[0129] The autonomous work device 10d has a detection unit 30d. The detection unit 30d is designed as an optical detection unit. The detection unit 30d has a camera 148d. The detection unit 30d, in particular the camera 148d, has an image sensor (not shown here).

[0130] It is conceivable that the control unit 16d is provided to evaluate the information acquired by the camera for localizing, in particular for a movement, of the autonomous work device 10d, in particular of the processing unit 12d and / or the movement unit 14d, in the work environment 26d, in particular for a work position. Furthermore, it is alternatively or additionally conceivable that the camera is provided to capture a surface characteristic or information for determining the surface characteristic in a designated processing area 86d of the object 68d. The work position of the autonomous work device 10d is a position of the autonomous work device 10d, in particular of the movement unit 14d, in the work environment 26d at which the object 68d can be processed by the processing unit 12d, in particular using an optical localization element 64d.

[0131] The system 36d has a projection unit 62d at least for generating the optical localization element 64d. The optical localization element 64d is designed as a line element. The optical localization element 64d is formed by electromagnetic radiation, preferably by visible light. The optical localization element 64d is a laser line. The projection unit 62d has a line laser for generating the optical localization element 64d. Alternatively or additionally, it is conceivable for the projection unit 62d to have a projector or the like for generating the optical localization element 64d. The optical localization element 64d preferably has a rectilinear profile. Alternatively, however, it is also conceivable for the optical localization element 64d to be designed as a circle, a point, or the like.

[0132] The projection unit 62d, in particular a projection of the optical localization element 64d, is aligned with a marking point 66d. The marking point 66d is defined by a marking element arranged in the work environment 26d, in particular on the object 68d to be processed. Alternatively or additionally, it is conceivable that the marking point 66d is stored in the work environment model. The marking element here is, for example, a drill hole. Alternatively, however, it is also conceivable that the marking element is a reflective pin, a lighting element, for example an LED, a color marker, a shape marker, a combination of these, or the like. It is conceivable that the marking element can be automatically applied or generated at the marking point 66d by the autonomous work device 10d, in particular the processing unit 12d.Alternatively, it is also conceivable that the marking element can be attached or generated at the marking point 66d by a user or by the user controlling the autonomous working device 10d, or that the marking element can be generated or arranged at the marking point 66d using a device separate from the autonomous working device 10d, for example a drilling machine.

[0133] The projection unit 62d can be aligned, for example, by a user at the marking point 66d. Alternatively, however, it is also conceivable that the projection unit 62d is configured for automatic alignment, in particular free from user intervention, for example by means of a detection unit for detecting the marking point 66d or the like. The projection unit 62d is designed separately from the autonomous work device 10d. The projection unit 62d is provided to project the optical marking element 64d, in particular the line element, onto the processing area 86d and directly onto the detection unit 30d, in particular the image sensor, in particular simultaneously. The projection unit 62d is provided to project the optical localization element 64d directly onto the detection unit 30d, preferably the image sensor.In particular, the projection unit 62d is configured and / or arranged such that the optical localization element 64d between the projection unit 62d and the detection unit 30d, in particular the image sensor, does not encounter any reflection surfaces or the like.

[0134] The control unit 16d is provided to control the movement unit 14d and / or the processing unit 12d depending on the optical localization element 64d projected directly onto the detection unit 30d, in particular the image sensor, in particular for processing the object 68d, preferably at at least one processing point of the object 68d. The control unit 16d is provided to control the movement unit 14d and / or the processing unit 12d such that the optical localization element 64d can be detected by the detection unit 30d, preferably projected onto the detection unit 30d, preferably directly. It is conceivable that information about a target position of the at least one processing point is stored in the processing plan, in particular in the work environment model. The processing point is in particular different from the marking point 66d.

[0135] The control unit 16d is provided to control at least the processing unit 12d and, in particular, if necessary, the movement unit 14d to process the object 68d along a processing line, in particular to create drill holes along the processing line. The at least one processing location is located, in particular, on the processing line. The processing line is defined by the optical localization element 64d in the work environment 26d. It is conceivable that information about the processing line, in particular about a position of the processing line, is stored in the processing plan, preferably in the work environment model.The control unit 16d is provided to control the processing unit 12d and in particular, if necessary, the movement unit 14d during the processing of the object 38d along the processing line, in particular the processing point, depending on the optical localization element 64d projected directly onto the detection unit, in particular the image sensor.

[0136] The processing unit 12d has a manipulator unit 72d. A tool unit 44d of the processing unit 12d is arranged on the manipulator unit 72d, in particular at a free end 118d of the manipulator unit 72d. The detection unit 30d is arranged on the manipulator unit 72d. The tool unit 44d is provided for processing the object 68d. The tool unit 44d is configured here, for example, at least to create drill holes.

[0137] The control unit 16d is provided to align the manipulator unit 72d, in particular the tool unit 44d, depending on the optical localization element 64d. The control unit 16d is provided to align the manipulator unit 72d, in particular the tool unit 44d, depending on the localization element 64d for processing the object 68d, preferably along the processing line, preferably for processing at least one processing point. The control unit 16d is provided, for example, to control the processing unit 12d and, if necessary, the movement unit 14d such that the optical localization element 64d projected directly onto the detection unit 30d is arranged centrally on the image sensor.Because the control unit 16d controls the processing unit 12d and / or the movement unit 14d in such a way that the optical localization element 64d projected directly onto the detection unit 30d is arranged centrally on the image sensor, the manipulator unit 72d, in particular the tool unit 44d, can be aligned.

[0138] The image sensor has a rectangular sensor surface 162d. Figure 10 schematically illustrates the sensor surface 162d and the localization element 64d arranged centrally on the image sensor, in particular the sensor surface 162d. Alternatively, it is also conceivable for the sensor surface 162d to be square, circular, or have another surface shape that would be deemed appropriate by a person skilled in the art. With a central arrangement of the optical localization element 64d on the image sensor, a main extension axis of the optical localization element 64d runs perpendicular to a main extension axis of the sensor surface 162d and in particular parallel to a main extension plane of the sensor surface 162d. With a central arrangement of the optical localization element 64d projected onto the detection unit 30d, the main extension axis of the optical localization element 64d runs through a geometric center point of the sensor surface 162d.

[0139] The optical localization element 64d projected directly onto the detection unit 30d, in particular the image sensor, has a width. The width of the optical localization element 64d projected directly onto the detection unit 30d, in particular the image sensor, runs perpendicular to the main extension axis of the optical localization element 64d projected directly onto the detection unit 30d, in particular the image sensor. The center of the optical localization element 64d projected directly onto the detection unit 30d, in particular the image sensor, refers to the width. The control unit 16d is in particular provided to use an algorithm to determine the center. The control unit 16d is provided, for example, to apply the algorithm to an image captured by the detection unit 30d, in particular the camera 148d.For example, to determine the center of the optical localization element 64d projected directly onto the detection unit 30d, preferably the image sensor, the control unit 16d is configured to apply an algorithm analogous to a method by Lu Yonghua, Zhang Jia, Li Xiaoyan et al. (cf. Lu Yonghua, Zhang Jia, Li Xiaoyan. A robust method for adaptive center extraction of linear structured light stripe. Transactions of Nanjing University of Aeronautics and Astronautics. 2020, 37(4); 586-596).

[0140] The detection unit 30d has a bandpass filter 70d adapted to the localization element 64d. The bandpass filter 70d is designed to allow only a wavelength range of the optical localization element 64d to pass through. Figure 11 shows a schematic sequence of a method for at least partially automatically processing the object 68d, in particular for at least partially automatically creating drill holes in the object 68d using the system 36d. In one method step, in particular in a marking step 114d, a marking element is arranged or created at the marking location 66d. A projection of the optical localization element 64d, in particular the projection unit 62d, is aligned, preferably in the marking step 114d, at the marking location 66d, in particular at the marking element.

[0141] The processing unit 12d and / or the movement unit 14d are / is controlled in a method step, in particular in a work step 104d, as a function of the optical localization element 64d projected directly onto the detection unit 30d and preferably designed as a line element. The processing unit 12d and / or the movement unit 14d are / is controlled during processing of the object 68d, preferably during processing of the object 68d along the processing line, as a function of the optical localization element 64d projected directly onto the detection unit 30d and preferably designed as a line element.

[0142] Figure 12 shows a system 36e with an autonomous working device 10e. Alternatively, it is also conceivable for the working device 10e to be designed as a manual working device 10e. The autonomous working device 10e has a processing unit 12e. The processing unit 12e is designed as a drilling unit. The autonomous working device 10e is designed as a construction site robot, in particular as a drilling robot. Alternatively, however, it is also conceivable for the autonomous working device 10e to be designed as a construction site robot different from a drilling robot, for example as a painting robot, as a window cleaning robot, as a sweeping robot, as an outdoor robot, for example as a mulching robot, as a hedge trimming robot, as a snow removal robot, as a collecting robot, in particular for collecting leaves, branches or the like, as a combination of these, or as another autonomous working device 10e that appears appropriate to a person skilled in the art.The autonomous working device 10e has a movement unit 14e for moving the processing unit 12e. The autonomous working device 10e has a control unit 16e at least for controlling the processing unit 12e. The autonomous working device 10e is provided for at least partially automatically processing an object 68e, in particular by means of the processing unit 12e. The autonomous working device 10e is provided here, by way of example, for at least partially automatically creating boreholes in the object 68e.

[0143] The system 36e has at least two localization elements 74e. Alternatively, however, it is also conceivable for the system 36e to have a plurality of localization elements 74e, in particular more than two localization elements 74e. The localization elements 74e are designed here, for example, as reflective pins. Alternatively, however, it is also conceivable for the localization elements 74e to be designed as lighting elements, for example, LEDs, color markers, shape markers, as a combination of these, or the like. One localization element 74e of the two localization elements 74e is arranged at a first marking location 66e. Another localization element 74e of the two localization elements 74e is arranged at a second marking location 156e.

[0144] The marking points 66e, 156e are each defined by a marking element arranged in a work environment 26e of the processing unit 12e, in particular on the object 68e to be processed. It is additionally or alternatively conceivable for the marking points 66e, 156e to be stored in a work environment model of the work environment of the processing unit 12e. The marking elements are drill holes. Alternatively, it is conceivable for the marking elements to be lighting elements, for example LEDs, color markers, shape markers, a combination of these or the like. The marking elements can be generated, in particular, automatically by the autonomous work device 10e, preferably the processing unit 12e, at the marking points 66e, 156e. Alternatively, it is also conceivable for the marking elements to be attached or removed at the marking points 66e, 156e by a user or by the user controlling the autonomous work device 10e.can be generated, or that the marking elements can be generated or arranged at the marking points 66e, 156e with a device separate from the autonomous working device 10e, for example a drilling machine.

[0145] The control unit 16e is provided to control the movement unit 14e and / or the processing unit 12e depending on the two localization elements 74e, preferably depending on the respective positions of the two localization elements 74e, in particular for processing the object 68e, preferably at at least one processing location of the object 68e. It is conceivable that information about a target position of the at least one processing location is stored in the processing plan, in particular in the work environment model. The processing location is, in particular, different from the marking locations 66e, 156e.

[0146] The two localization elements 74e define a processing line 76e. The processing line 76e is a, preferably shortest, connecting line between the two localization elements 74e. The control unit 16e is provided to control at least the processing unit 12e, in particular after localization of the processing unit 12e and / or the movement unit to a working position of the autonomous work device 10e, preferably the movement unit 14e and / or the processing unit 12e, to process the object 68e, in particular to create a borehole in the object 68e, along the processing line 76e, in particular depending on the two localization elements 74e.The working position of the autonomous working device 10e is a position of the autonomous working device 10e, preferably of the movement unit 14e, in the working environment 26e, at which in particular the object 68e to be processed can be processed by the processing unit 12e, in particular using the localization elements 74e.

[0147] The autonomous work device 10e has at least one detection unit 30e. The detection unit 30e is designed to detect the at least one localization element 74e of the localization elements 74e. The detection unit 30e is designed as an optical detection unit. The detection unit 30e has a camera designed as an infrared camera 80e, in particular as a near-infrared camera, in particular for detecting the at least one localization element 74e. The control unit 16e is designed to control the movement unit 14e and / or the processing unit 12e such that the at least one localization element 74e can be detected by the detection unit 30e.

[0148] It is conceivable that the control unit 16e is provided to evaluate the information acquired by the camera of the detection unit 30e for localizing the autonomous work device 10e, in particular the processing unit 12e and / or the movement unit 14e, in the work environment 26e, in particular the work position. Alternatively or additionally, it is conceivable that the camera of the detection unit is provided to capture the surface characteristic or information for determining the surface characteristic in the processing area.

[0149] The autonomous work device 10e has at least one further detection unit 82e. The further detection unit 82e is provided to detect at least the further localization element 74e. The further detection unit 82e has an infrared camera 154e, in particular a near-infrared camera. The infrared camera 80e of the detection unit 30e is identical to the infrared camera 154e of the further detection unit 82e. The detection unit 30e and the further detection unit 82e are oriented at least substantially away from one another. The control unit 16e is provided to control the movement unit 14e and / or the processing unit 12e such that the at least one further localization element 74e can be detected by the further detection unit 82e.The control unit 16e is provided to control the movement unit 14e and / or the processing unit 12e such that the two localization elements 74e can be detected by the detection unit 30e and the further detection unit 82e, preferably simultaneously.

[0150] The processing unit 12e has a manipulator unit 72e. A tool unit 44e of the processing unit 12e is arranged on the manipulator unit 72e, in particular on a free end 118e of the manipulator unit 72e. The detection unit 30e and / or the further detection unit 82e are / is arranged on the manipulator unit 72e. The processing unit 12e, in particular the manipulator unit 72e, is preferably arranged on, preferably on, the movement unit 14e. The tool unit 44e is provided for processing the object 68e. The tool unit 44e is configured here, for example, at least to create drill holes. The tool unit 44e is at least mechanically connected to the movement unit 14e via the manipulator unit 72e.

[0151] The autonomous work device 10e has a lighting unit 78e. The lighting unit 78e has, for example, at least one light source (not shown here), for example an LED, a light bulb, or the like. The lighting unit 78e preferably has a plurality of light sources (not shown here), preferably at least two light sources. The lighting unit 78e is provided to assist the detection unit 30e, in particular the infrared camera 80e of the detection unit 30e, in detecting the at least one localization element 74e. The lighting unit 78e is provided to assist the further detection unit 82e, in particular the infrared camera 154e of the further detection unit 82e, in detecting the further localization element 74e.The control unit 14e is provided to control the detection unit 30e and the illumination unit 78e to capture an image of the localization element 74e by means of the detection unit 30e with active illumination by the illumination unit 78e and, in particular in an unchanged relative position of the autonomous work device 10e, in particular of the processing unit 12e and / or the movement unit 14e, to the work environment 26e, to capture an image of the localization element 74e by means of the detection unit 30e free of active illumination by the illumination unit 78e.

[0152] The control unit 14e is provided to control the further detection unit 82e and the illumination unit 78e to capture an image of the further localization element 74e by means of the further detection unit 82e with active illumination by the illumination unit 78e and, in particular, with the relative position of the autonomous work device 10e, in particular the processing unit 12e and / or the movement unit 14e, to the work environment 26e unchanged, to capture an image of the further localization element 74e by means of the further detection unit 82e free of active illumination by the illumination unit 78e. When the two localization elements 74e are detected by the detection unit 30e and the further detection unit 82e, the autonomous work device 10e, in particular the processing unit 12e and / or the movement unit 14e, is in a fixed position relative to the work environment 26e.

[0153] The control unit 16e is provided to process the images captured by the capture unit 30e with active illumination by the illumination unit 78e and without active illumination 78e into a final image in which a background is subtracted to the localization element 74e. The control unit 16e is provided to process the images captured by the further capture unit 82e with active illumination by the illumination unit 78e and without active illumination 78e into a final image in which a background is subtracted to the further localization element 74e.

[0154] The control unit 16e is provided to align the processing unit 12e, in particular the manipulator unit 72e, preferably the tool unit 44e, depending on the two localization elements 74e, in particular for processing the object 68e along the processing line 76e.

[0155] The control unit 16e is provided here, for example, to control the processing unit 12e and / or the movement unit 14e such that the localization elements 74e detected by the detection unit 30e and the further detection unit 82e are arranged centrally in the respectively detected, in particular finally determined, image, in particular the respective image sensor. Because the control unit 16e controls the processing unit 12e and, in particular, if necessary, the movement unit 14e such that the localization elements 74e detected by the detection unit 30e and the further detection unit 82e are arranged centrally in the respectively detected, in particular finally determined, image, in particular the respective image sensor, the manipulator unit 72e, in particular the tool unit 44e, can be aligned, in particular for processing the object 68e along the processing line 76e.

[0156] The images captured by the capture unit 30e and / or the further capture unit 82e, in particular sensor surfaces 162e of the respective image sensors, have, for example, a rectangular landscape format. The sensor surfaces 162e of the capture unit 30e and the further capture unit 82e are schematically illustrated in Figure 12, with the captured localization elements 74e being shown in a centrally captured arrangement on the sensor surfaces 162e. Alternatively, however, it is also conceivable that the capture unit 30e and / or the further capture unit 82e are configured to capture images in a square format or in a rectangular portrait format.With a central arrangement of the localization elements 74e in the respective images, in particular on the respective image sensor, a respective main extension axis of the localization elements 74e in the respective image, in particular on the respective image sensor, runs through an image center of the respective image, in particular through a center of the respective sensor surface 162e. With a central arrangement of the localization elements 74e in the respective images, in particular on the respective sensor surface 162e, the respective main extension axis of the localization elements 74e in the respective image, in particular on the respective sensor surface 162e, runs perpendicular to a main extension axis of the respective image, in particular perpendicular to a main extension axis of the respective sensor surface 162e, preferably with a rectangular landscape format of the images, in particular of the image sensors.

[0157] Figure 13 shows a schematic sequence of a method for at least partially automatically processing the object 68e, in particular for at least partially automatically creating drill holes in the object 68e, by means of the system 36e.

[0158] In a method step, in particular in an assembly step 116e, one of the two localization elements 74e is attached to each of the two marking points 66e, 156e, preferably automatically by means of the processing unit 12e of the autonomous working device 10e.

[0159] In a method step, in particular in a detection step 112e, the two localization elements 74e defining the processing line 76e for the processing unit 12e are detected, in particular by means of the detection unit 30e and the further detection unit 82e. In a method step, in particular in a work step 104e, the processing unit 12e and / or the movement unit 14e are / is controlled depending on the localization elements 74e. In particular, the processing unit 12e is aligned by means of a control by the control unit 16e based on the two localization elements 74e, preferably before the object 12e is processed by the processing unit 12e.Preferably, the processing unit 12e is aligned such that the localization elements 74e are arranged centrally on the images captured by the capture unit 30e and the further capture unit 82e, in particular on the respective image sensors of the capture unit 30e and the further capture unit 82e.

[0160] The processing unit 12e and / or the movement unit 14e are / is controlled when processing the object 68e, preferably when processing the object 68e along the processing line 76e, depending on the localization elements 74e.

Claims

Claims 1. Autonomous or manual work device (10a), in particular a robot, with a processing unit (12a), in particular a drilling unit, with a movement unit (14a) for moving the processing unit (12a) and with a control unit (16a) at least for controlling the processing unit (12a), characterized in that the control unit (16a) is provided to classify the test object (18a) as a localization reference object (20a) at least as a function of a comparison of a target characteristic of at least one test object (18a) in a working environment (26a) of the processing unit (12a) and an actual characteristic of the test object (18a).

2. Autonomous or manual working device (10a) according to claim 1, characterized in that the control unit (16a) is provided to control the processing unit (12a) depending on the at least one test object (18a) classified as a localization reference object (20a).

3. Autonomous or manual working device (10a) according to claim 1 or 2, characterized in that the control unit (16a) is provided to identify, at least as a function of a classification of the at least one test object (18a), sub-areas (90a, 92a) of the working environment (26a) of the processing unit (12a) in which a localization of the processing unit (12a) is possible based on the at least one test object (18a).

4. Autonomous or manual work device (10a) according to one of the preceding claims, characterized in that the control unit (16a) is provided to use a support point (28a, 94a) assigned to the processing unit (12a) in the working environment (26a) of the processing unit (12a) for checking a localizability of the processing unit (12a) at the support point (28a, 94a) required for processing the object (68a).

5. Autonomous or manual working device (10a) according to one of the preceding claims, characterized in that the control unit (16a) is provided to check a need for additional localization reference elements (22a).

6. Autonomous or manual working device (10a) according to claim 5, characterized in that the control unit (16a) is provided to determine a desired mounting position for at least one additional localization reference element (22a) depending on a check of the need for additional localization reference elements (22a).

7. Method for at least partially automatically processing an object (68a), in particular for at least partially automatically creating boreholes in an object (68a), preferably a part of a building, by means of an autonomous or manual working device (10a), in particular according to one of claims 1 to 6, characterized in that depending on a comparison of a target characteristic of at least one test object (18a) in an environment of a processing unit (12a) of the autonomous working device (10a) and an actual characteristic of the at least one test object (18a), the test object (18a) is classified as a localization reference object (20a).

8. Method according to claim 7, characterized in that a need for additional localization reference elements (22a) is checked. Method according to claim 8, characterized in that at least depending on a check of the need for additional localization reference elements (22a), a target mounting position for at least one additional localization reference element (22a) is determined by means of the control unit (16a) is determined.

Images