Method for controlling a construction robot, and construction robot

Abstract

The invention relates to a method (1000) for controlling a construction robot (10), wherein the construction robot (10) is controlled such that a tool (18), which is located on a manipulator of the construction robot (10), is moved towards at least one working position (20) on a building element (12), said working position (20) being marked using at least one linear light beam (52). The invention is characterized in that the construction robot (10) moves the manipulator and / or the tool (18) on the basis of the position of a point of incidence (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10).

Description

[0001] Method for controlling a construction robot and construction robot

[0002] Description

[0003] The invention relates to a method for controlling a construction robot, wherein the construction robot is controlled to move to at least one working position on a building element using a tool located on a manipulator of the construction robot. The working position is marked using at least one linear light beam. The construction robot can then perform construction work at the working position.

[0004] To do this, the image created by the linear light beam on the building element can first be captured and evaluated using image processing to determine the position of the marked work position. Then, the position and orientation of the construction robot can be determined. These various data can be combined to determine a path along which the tool can move to the work position.

[0005] However, this method fails in many cases. Often, building elements such as building ceilings already contain installation elements or similar. These can interrupt the line of sight between the construction robot and a work position on the building element, meaning the construction robot cannot capture the light image of the marked work position. Such interfering objects, such as the aforementioned installation elements, can also lead to incorrect determination of the position of the work position. For example, confusion can arise between a part of the line light beam hitting an interfering object and a part of the line light beam actually marking the work position on the building element. Different heights of these various parts can lead to an apparent offset of the work position for the construction robot.

[0006] However, if the work position is not determined correctly, this can lead to construction work being carried out in the wrong location. For example, drilling work can result in holes being drilled in inappropriate positions. Chiseling work can lead to unintentional destruction of the building element or other nearby objects.

[0007] The object of the present invention is therefore to provide a method that enables the construction robot to reliably move the tool to a work position on a building element marked by a linear light beam. Furthermore, the object of the present invention is to provide a construction robot that can reliably perform construction work at a work position marked by a linear light beam.

[0008] The object is achieved by a method for controlling a construction robot, wherein the construction robot is controlled to move to at least one working position on a building element with a tool located on a manipulator of the construction robot, wherein the working position is marked with the aid of at least one line light beam, wherein the construction robot moves the manipulator and / or the tool depending on a position of an impact point of the line light beam on the construction robot.

[0009] The invention is based, among other things, on the surprising idea that the linear light beam, when it strikes the construction robot, itself describes a straight path from the construction robot to the working position. Data about a path to the working position can thus be obtained not only by examining the working position on the building element itself, but also by examining the linear light beam, in particular away from the building element. Interference effects such as the previously described interruption of the line of sight, an apparent offset due to interfering objects, etc., can be avoided or at least reduced if the linear light beam is examined not in the area of ​​the building element, but in direct proximity to the construction robot, in particular when it strikes the construction robot.This allows a path to the working position to be determined with very high reliability by detecting the position of at least one impact point on the construction robot.

[0010] It is conceivable that the construction robot detects that the linear light beam is radiating past the tool, meaning that the tool, in its current position, certainly does not reach the working position. The construction robot can then be configured to perform a corrective movement that realigns the tool along the linear light beam, at least with sufficient accuracy.

[0011] Through step-by-step movements, the tool can be guided along the line light beam until it finally reaches the working position.

[0012] In this case, at least the direction in which the working position is expected is usually known. For example, a working position on a building ceiling is known to be above the construction robot on the building floor. From this, it is possible to deduce the direction in which the linear light beam should be followed.

[0013] The process can be used with different types of linear light beams. The linear light beam can be a continuous beam. It is also conceivable that the linear light beam corresponds to one or more moving light points, such as those generated by a rotating laser. Alternatively or additionally, it can be pulsed light.

[0014] The method can preferably be used for light in the infrared, visible, or ultraviolet range. Alternatively or additionally, however, it is also conceivable to use the method for electromagnetic radiation in other frequency ranges, such as microwaves. Light sensors adapted to the respective frequency range, such as infrared sensors, light sensors suitable for visible light, or UV sensors, can preferably be used for this purpose.

[0015] The position of the point of impact can be determined, in particular, with the aid of at least one line light sensor or an area light sensor. Such a light sensor can monitor an elongated area or a flat area along the construction robot for impact of the line light beam, making it easier to locate the line light beam. The line light sensor can have a width of, for example, at least 5 cm, in particular of at least 10 cm. The area light sensor can have an area of, for example, at least 5 cm x 5 cm. The line light sensor, in particular, can offer a balanced ratio of cost to monitored area.

[0016] In particular, it is conceivable to detect at least two positions of two different points of incidence of the linear light beam on the construction robot. This can be achieved with a single area light sensor. Multiple light sensors, such as multiple line light sensors and / or area light sensors, preferably spaced apart from each other, can also be used. Overall, this can open up the possibility of determining the orientation of the linear light beam.

[0017] It is conceivable to detect at least one position of an impact point on the manipulator. For this purpose, a light sensor, for example a line light sensor, can be arranged on the manipulator and / or on the manipulator. Any necessary corrective movement can then be derived directly from the determined position of the impact point. An additional determination of the relative position of the manipulator relative to a base, for example, a driving platform of the construction robot, may thus be unnecessary.

[0018] The linear light beam can also be used to mark multiple work positions. For example, a construction task might involve performing several construction jobs along the linear light beam at constant intervals on the building element. For example, a construction task might involve drilling holes into the building element at a specified distance from each other along the linear light beam.

[0019] The method may be particularly suitable for such a case, since it already makes it possible, in principle, to follow the path of the line light beam.

[0020] In order to be able to control, for example, the distances between the individual construction works or work positions, at least one second coordinate, for example a distance to the building element and / or to a second building element, can additionally be measured.

[0021] The construction robot used for the method may have a lifting device. The lifting device may be part of the manipulator.

[0022] For a construction robot designed to perform construction work on a building ceiling, it may be sufficient for the manipulator, particularly the lifting device, to have only one degree of freedom. The lifting device can, for example, be adjustable in length. It can be telescopic. A small number of degrees of freedom can reduce manufacturing costs. The manipulator can also be designed for particularly heavy loads. If the positions of at least two different impact points are determined, the path of the linear light beam can be determined.

[0023] This path is also straight, at least in free space. It can therefore be provided that the lifting device of the construction robot is moved depending on the positions of at least two of the impact points. In order to move to a working position on a building ceiling, the path of the linear light beam can thus first be determined; in particular, an angle of inclination of the linear light beam, for example relative to the vertical and / or relative to a surface normal of the building ceiling through the working position can be determined. The lifting device can then be tilted until it assumes a position corresponding to the determined angle of inclination. The lifting device can then be extended in a straight line until it reaches the building ceiling. In this way, the tool on the manipulator can be guided parallel to at least part of the linear light beam.

[0024] Therefore, it may be advantageous overall to position the lifting device at an angle depending on the positions of at least two of the impact points relative to a vertical and / or relative to a surface normal of the building element based in the working position.

[0025] The scope of the invention further includes a construction robot for carrying out construction work on a building element, comprising a mobile platform, a manipulator on which a tool can be arranged and / or is arranged, and at least one light sensor, wherein the construction robot is configured to determine a position of an impact point of a line light beam on the construction robot with the aid of the light sensor.

[0026] Such a construction robot offers the prerequisites for implementing the process described above.

[0027] Preferably, the construction robot can have a control unit. The control unit can have a computer. The computer can have a processor and memory in which executable program code is stored. The program code can be designed such that when the program code is executed on the processor, the method is carried out by the construction robot.

[0028] The construction robot can be configured, in particular, to determine the positions of at least two different points of incidence of the linear light beam on the construction robot. The construction robot can have at least one light sensor, in particular a line light sensor and / or an area light sensor. Preferably, it can have at least two light sensors in total. The construction robot can be configured, in particular, to detect at least two different points of incidence of the linear light beam using at least two light sensors. Several light sensors can be arranged at a distance from one another. This allows the positions of points of incidence to be determined over a particularly large area. The path of the linear light beam can thus be determined with particular precision.

[0029] The construction robot can have at least one distance meter so that additional data on the position of the work position can be obtained independently of the line light beam.

[0030] It is also conceivable that the construction robot is configured to perform the procedure described above. For this purpose, it can be configured to capture and evaluate images of the light image. The data obtained in this way can be used for error compensation in order to determine the position of the work position even more precisely and, if necessary, even more reliably.

[0031] The construction robot can be configured to carry out construction work, in particular identical construction work, along the line light beam on a surface of the building element at several equally spaced working positions.

[0032] The construction robot can have a distance meter, for example, a laser distance meter. The distance meter can be arranged and / or aligned horizontally. The distance meter can be configured to detect a marking, for example, a reflective surface, of a position marker. It can be configured to measure only when this marking, in particular the reflective surface, is detected.

[0033] The construction robot can also have at least one odometric distance measuring device, in particular at least one wheel odometry sensor. Measurement data from the distance measuring device can be prioritized over odometric measurement data. In particular, as long as there are no excessive deviations between the odometric measurement data and the measurement data from the distance measuring device, the system accuracy can be improved by using the measurement values ​​from the distance measuring device. The mobile platform can comprise a driving platform. To ensure sufficient stability against tipping, the mobile platform, in particular the driving platform, can have at least three, preferably independent, drive points. In order to be able to move the mobile platform, at least one, preferably at least two, of the drive points can be driven by a motor. A drive point can, for example, comprise a propeller, a wheel, a chain drive and / or a drive leg.

[0034] The driving platform can, for example, comprise a wheeled chassis. The wheeled chassis can, for example, have three or four wheels.

[0035] The mobile platform may have a support. The manipulator may be arranged on the support.

[0036] The mobile platform can be configured to pivot the manipulator relative to a vertical and / or a surface normal of the building element to be processed. For this purpose, the support can be pivotably mounted on the mobile platform.

[0037] Maneuvering movements of the mobile platform, especially the driving platform, can be reduced or avoided if the manipulator is pivoted until the tool reaches the working position. For this purpose, the tool, particularly its longitudinal axis, can be aligned at the working position at an angle oblique to the surface normal of the building element.

[0038] By pivoting the carrier and / or the manipulator, unevenness of the surface on which the construction robot is located can also be compensated.

[0039] The manipulator can have a machine tool at its free end. The tool can be housed in the machine tool.

[0040] The manipulator can comprise a lifting device. In particular, the manipulator can be designed as a lifting device. The lifting device can be variable in length, in particular telescopic. Such a manipulator can be particularly suitable for work on building ceilings. The construction robot can be used with different types of machine tools and tools.

[0041] Examples of tools can be drilling tools, particularly for hammer drilling into rock, steel drilling tools or wood drilling tools, chiseling tools, or setting tools. Setting tools can, for example, be tools for setting, particularly for setting fasteners such as screws, nails, anchors, or dowels. It is also conceivable for the tool to be a marking tool, for example, comprising a paint spray nozzle. It is also conceivable for the tool to be a monitoring tool and / or a measuring tool, for example, it can comprise a distance meter and / or a camera.

[0042] Depending on the tools, the machine tools can be drilling machines, in particular hammer drills, chiseling machines, setting tools, for example direct setting tools for setting nails, screwing machines such as screwdrivers with or without impact, or the like.

[0043] To control one or more, preferably all, of the previously described functionalities of the construction robot, the construction robot can have a control computer.

[0044] The control computer may comprise a processor, a memory unit, and program code executable on the processor. The processor may comprise one or more subprocessors. The program code may be configured to implement one or more of the functionalities, in particular all functionalities, by controlling the corresponding elements of the construction robot when executed on the processor.

[0045] In particular, it is conceivable that the construction robot, in particular a program code of a control computer of the construction robot, is configured to carry out the method described above by controlling further elements of the construction robot.

[0046] The construction robot can have an acceleration sensor and / or an inclination sensor, for example, an inertial measurement unit (IMU), hereinafter referred to as "IMU." The acceleration sensor and / or the inclination sensor can be arranged on the driving platform. Alternatively or additionally, they can also be arranged on the lifting device and / or on the machine tool. The construction robot can be designed to carry out construction work on a building construction site and / or a civil engineering construction site. Accordingly, the building element can comprise, for example, a building ceiling, a building wall, and / or a building floor.

[0047] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen. The various features can be implemented individually or in combinations in variants of the invention.

[0048] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.

[0049] They show:

[0050] Fig. 1 a construction robot and a building element in a perspective oblique view,

[0051] Fig. 2 to

[0052] Fig. 4 shows the construction robot according to Fig. 1 in a view from the side, in a view from above and in a view from below,

[0053] Fig. 5 is a schematic representation of an angle of impact of the construction robot on the building element,

[0054] Fig. 6 is a schematic representation of a line laser marking several work positions using a line light beam, the line light beam being detected by the construction robot,

[0055] Fig. 7 the construction robot illuminated by the line light beam in a view from the front and

[0056] Fig. 8 shows a method for controlling a construction robot.

[0057] In the following description of the figures, the same reference symbols are used for identical or functionally corresponding elements across the various figures to facilitate understanding.

[0058] Fig. 1 shows a construction robot 10 for processing a building element 12. Fig. 2 shows a side view of the construction robot 10. Fig. 3 and Fig. 4 show a view of the construction robot 10 from above and from below, respectively.

[0059] The construction robot 10 comprises a mobile platform in the form of a driving platform 14, a manipulator in the form of a lifting device 16, and a machine tool 17 arranged on the lifting device 16. A tool 18 is accommodated in the machine tool 17. The tool 18 contacts a working position 20 on the building element 12. Along the lifting device 16 are a prism 22 as well as a first line light sensor 24, a second line light sensor 26, and a third line light sensor 28. The construction robot 10 also has a control computer 46. Furthermore, the construction robot has a laser distance meter 48 on a rear side, in particular on the side opposite the line light sensors 26, 28. The machine tool 17 is designed as a drilling machine. The tool 18 is a concrete drill.

[0060] Building element 12 is a building ceiling made of reinforced concrete.

[0061] The construction robot 10 is configured to drill a hole into the building element 12 designed as a building ceiling at the working position 20.

[0062] The line light sensors 24, 26, 28 are configured to detect the position of incident light beams or light points. For this purpose, they each have a light-sensitive sensor line 29. To simplify the illustration, only one of the sensor lines 29 is provided with a reference symbol in Fig. 1. The light-sensitive sensor lines 29 can have a width of, for example, 10 cm. Matrices of individual light-sensitive sensors extend across the width of the sensor lines 29.

[0063] The first line light sensor 24 and the second line light sensor 26 are arranged vertically offset one above the other. The third line light sensor 28 is arranged diagonally forward below the second line light sensor 26.

[0064] The prism 22 can be used alternatively or additionally, in particular in conjunction with a total station, to determine a position and / or attitude of the construction robot 10 and in particular of the tool 18.

[0065] The driving platform 14 has four drive points 30, of which only three are visible in Fig. 1 for illustrative purposes. The drive points 30 have wheels. The wheels are directional wheels. It is not necessary, but conceivable, for the wheels to be omnidirectional.

[0066] Each of the drive points 30 has a height adjustment 32. The height adjustments 32 engage a support 34. The lifting device 16 is arranged on the support 34. With the help of the height adjustments 32, the support 34 can thus be pivoted. By pivoting the support 34, the lifting device 16 and the machine tool 17 connected to it, and thus the tool 18, can also be pivoted. As will be explained in more detail below in connection with Fig. 5, the construction robot 10 can thus pivot the lifting device 16 and thus the machine tool 17 with its tool 18 relative to a surface normal of the building element 12 with the help of the height adjustments 32 of the driving platform 14.

[0067] The height adjustments 32 are designed to be self-locking. For this purpose, they can, for example, have a worm gear. Thus, the height adjustments 32, and thus the angle of inclination of the mobile platform 14, are only adjusted when the worm gears are moved, for example, by means of a servomotor.

[0068] The lifting device 16 has a single degree of freedom. In particular, its length is variable. As can be seen in particular from Fig. 2, a lower part 38 of the lifting device 16 can be released using fixing levers 36, manually moved along the remaining lifting device 16, and then re-fixed to the remaining lifting device 16. Thus, the construction robot 10 can initially be roughly adjusted manually to a first length or height, from which the construction robot 10 can automatically extend an upper part 40 of the lifting device 16 as needed, in particular electrically driven, until the tool 18 reaches the working position 20 or, if necessary, penetrates the building element 12 at this position.

[0069] Overall, the construction robot 10 is dimensioned such that its total weight is less than 50 kg. When the construction robot 10 is retracted to a minimum length, as shown in Fig. 1 and Fig. 2, for example, it has a height of less than 1.5 m, for example. The driving platform 14 occupies a footprint of less than 60 x 60 cm. This also makes the construction robot 10 easily portable by a construction worker and can be transported within conventional buildings, for example, from one room to another.

[0070] The construction robot 10 further comprises an operating mode selector switch 42 (see in particular Fig. 2). The operating mode selector switch 42 enables the construction robot 10 to be operated in a first operating mode, in which it automatically moves to the working position 20 with its tool 18. In a second operating mode, the construction robot 10 can be controlled by manual guidance. In particular, in the second operating mode, the lifting device 16 can be manually pivoted in a desired direction by applying appropriate directed pressure.

[0071] Fig. 4 schematically depicts an IMU 44. The IMU 44 is located on the carrier 34 and is therefore not visible in the bottom view of the construction robot 10 in Fig. 4.

[0072] Furthermore, Fig. 4 shows a center point M of the carrier 34.

[0073] The construction robot 10 is configured to measure accelerations and inclination angles of the support 34 relative to the horizontal using the IMU 44. Thus, for example, unevenness of the ground can be detected using the IMU 44. The construction robot 10 is further configured to compensate for such inclination angles and / or unevenness, particularly during a movement of the driving platform 14, using the height adjustments 32, so that the construction robot 10 is continuously protected against tipping over.

[0074] With reference to Fig. 5, it will be explained in more detail how the tool 18 is aligned with its longitudinal axis A at an impact angle alpha obliquely to a surface normal N of the building element 12 to be machined.

[0075] For this purpose, Fig. 5 shows a simplified part of the lifting device 16. In particular, Fig. 5 shows that the tool 18 contacts the building element 12 at an angle at the working position 20.

[0076] Thus, the impact angle alpha, which is in particular different from zero, between the longitudinal axis A of the tool 18 and the surface normal N results from the working position 20.

[0077] Since in this case the building element 12 runs horizontally corresponding to a building ceiling, in the illustrated embodiment the surface normal N also runs parallel to a vertical V.

[0078] For illustrative purposes, the angle of incidence alpha is significantly exaggerated in Fig. 5. In an actual application, the angle of incidence alpha may be less than 10°, in particular less than 5°, particularly preferably less than 1°, and for example more than 0.1°.

[0079] It can be seen that due to the inclined position of the tool 18 according to the angle of impact alpha, the center point M of the carrier 34 (see Fig. 2) is horizontally spaced by a distance L from a plumb point LP, which results from the plumb line of the working position 20 dropped onto the ground. The center point M is therefore also horizontally spaced by the distance L from the working position 20. The construction robot 10 is thus configured to perform construction work, in this case drilling a hole, at the working position 20, even if the mobile platform 14, in particular the center point M, is not located vertically below the working position 20. This eliminates the need for the mobile platform 14 to be maneuvered accordingly in order to bring the center point M vertically below the working position 20. It can be seen that this also makes working positions 20 accessible that would otherwise be inaccessible due to a lack of free space for the mobile platform 14.In particular, edge areas of the building element 12 can thus be reached at all or at least more easily.

[0080] In the second operating mode, i.e., the manual operating mode, the impact angle can be adjusted by manually guiding the lifting device 16. In particular, the lifting device 16 can be pivoted by applying pressure to it. The construction robot 10 is configured to limit the maximum permissible deflection and thus the maximum achievable impact angle alpha to such an extent that the construction robot 10 cannot tip over at any time, even in this operating mode.

[0081] In both operating modes, the construction robot 10 is configured to adjust or support the respective achieved inclination of the lifting device 16 and thus the impact angle alpha by adjusting the height adjustments 32. In the second operating mode, this results, for example, in a manually adjusted inclination of the lifting device 16 being maintained after the lifting device 16 is released. Thus, the user can move to the working position 20 with the tool 18 by extending the lifting device 16, for example, controlled by a remote control (not shown).

[0082] With the help of the three line light sensors 24, 26, 28, the path of a linear light beam marking the working position 20, for example, a correspondingly aligned laser beam, can be detected. The position of the working position 20 can be determined from the detected path of the linear light beam. If, for example, it is known that the linear light beam is aligned exactly vertically, an inclination angle of the lifting device 16 can be determined alternatively or additionally using the three line light sensors 24, 26, 28.

[0083] Fig. 6 shows a schematic representation of a line laser 50 that marks the position of several work positions 20 on the building element 12, spaced apart from each other at a predefined, constant distance, using a line light beam 52. The line laser 50 is a continuous-light laser. The line light beam 52 is emitted by the line laser 50 at an angle of, for example, 180°. It thus marks a continuous line 54 along the building element 12.

[0084] At three impact points AP1, AP2 and AP3, the line light beam 52 strikes the line light sensors 24, 26, 28 and in particular their respective sensor lines 29 (see Fig. 1).

[0085] With its laser distance meter 48, the construction robot 10 uses a measuring beam 56 to measure a second coordinate x to a position marker 58. The position marker 58 is designed as a reflector for this purpose. It is fixed to a wall 60.

[0086] Fig. 7 shows the construction robot 10 in the situation according to Fig. 6 in a view from the front.

[0087] It can be seen that the line light beam 52 is offset by an offset distance dv from the longitudinal axis A of the tool 18. Thus, the tool 18 is aligned with a target point 62 on the building element 12, spaced from the working point 20.

[0088] The line light beam 52 strikes the line light sensors 24, 26 and 28 at impact points AP1, AP2, AP3.

[0089] In the example shown in Fig. 7, the lifting device 16 is aligned vertically so that the longitudinal axis A runs parallel to the line light beam 52, which is also aligned vertically.

[0090] Therefore, the distances of the impact points AP1, AP2 and AP3 from the longitudinal axis A in this example correspond to the offset distance dv. If the line light beam 52 were not parallel to the longitudinal axis A, different distances would result on the individual line light sensors 24, 26, 28, so that an inclination of the longitudinal axis relative to the line light beam 52 can be inferred from these differences.

[0091] The construction robot 10 measures these distances of the impact points AP1, AP2 and AP3 from the longitudinal axis A and determines the offset distance dv from this. From this, the construction robot 10 then determines the impact angle alpha (see Fig. 5), according to which the lifting device 16 and thus the tool 18 are to be pivoted along the direction marked with an arrow in Fig. 7 so that the tool 18 can move to the working position 20. As described in connection with Fig. 5, the construction robot 10 then pivots the lifting device 16 by the determined impact angle alpha, to compensate for the offset distance dv and to align the tool 18 with the impact point of the line light beam 52 on the building element 12 and thus with one of the working positions 20.

[0092] To determine the position of the tool 18 along the line 54, the second coordinate x can be used.

[0093] Fig. 8 shows a method 1000 for controlling a construction robot.

[0094] To explain the method 1000, reference is made to the previously described Figures 1 to 7 and the reference numerals introduced therein.

[0095] The method 1000 is also illustrated using the example of drilling holes at the working positions 20 of the building element 12 with the aid of a construction robot, for example the construction robot 10.

[0096] In a start phase 110, the construction robot 10 moves its driving platform 14 into the beam path of the linear light beam 52, so that the linear light beam impinges on the line light sensors 24, 26, 28 at the impact points AP1, AP2, AP3. It maneuvers the driving platform 14 until the laser distance meter 48 detects and recognizes the position marking 58 with its measuring beam 56.

[0097] In a phase 120, the moving platform 14 moves along the linear light beam 52 until the second coordinate x corresponds to the next work position 20 to be processed. The movement of the moving platform 14 occurs with continuous monitoring of the impact points AP1, AP2, AP3 and, if necessary, corresponding corrective movements so that the linear light beam 52 does not drift away from the sensor lines 29.

[0098] As described in connection with Fig. 7, the construction robot 10 determines the offset distance dv in a phase 130 and from this the required impact angle alpha.

[0099] Subsequently, in a phase 140, the construction robot 10 pivots its lifting device 16 according to the determined angle of incidence alpha in order to align the tool 18 with the next work position 20 to be processed, as described in connection with Fig. 5. Thus, the construction robot 10 moves the tool 18 depending on the positions of the impact points AP1, AP2, and AP3 of the line light beam 52 on the construction robot 10. In particular, the construction robot 10 thus moves the tool 18 depending on the distances of the impact points AP1, AP2, AP3 from the longitudinal axis A.

[0100] Then, in a phase 150, the construction robot 10 extends the lifting device 16 in order to move the tool 18 to this working position 20.

[0101] As soon as the tool 18 has reached the next working position 20 to be machined, it carries out the desired construction work in a phase 160.

[0102] According to the example used here, the machine tool 17 is activated, so that the tool 18 begins to drill a hole at the working position 20. For drilling, the lifting device 16 is adjusted according to the drilling progress.

[0103] As soon as the tool 18 has drilled the hole to the desired depth, the lifting device 16 is at least partially retracted again in order to pull the tool 18 out of the hole.

[0104] The machine tool 17 is then deactivated.

[0105] If there are still further work positions 20 to be processed, the process 1000 can be repeated in an abbreviated manner starting with phase 120, i.e. the detection of the relative position.

[0106] Once all construction work has been completed at all work positions 20 to be processed, the process 1000 can be terminated.

[0107] 10 construction robots

[0108] 12 building elements

[0109] 14 Driving platform

[0110] 16 Lifting device

[0111] 17 Machine tool

[0112] 18 tools

[0113] 20 working positions

[0114] 22 Prism

[0115] 24 line light sensor

[0116] 26 line light sensor

[0117] 28 line light sensor

[0118] 29 sensor row

[0119] 30 drive point

[0120] 32 height adjustment

[0121] 34 carriers

[0122] 36 locking lever

[0123] 38 lower part

[0124] 40 upper part

[0125] 42 Operating mode selector switch

[0126] 44 IMU

[0127] 46 control computers

[0128] 48 laser distance meters

[0129] 50 line lasers

[0130] 52 line light beam

[0131] 54 Line

[0132] 56 measuring beam

[0133] 58 Position marker

[0134] 60 wall

[0135] 62 Destination point

[0136] 110 Start phase

[0137] 120 phases

[0138] 130 phases

[0139] 140 Phase 150 Phase

[0140] 160 phases

[0141] 1000 procedures

[0142] A Longitudinal axis AP1 Impact point

[0143] AP2 impact point

[0144] AP3 Impact Point

[0145] L Distance

[0146] LP plumb point M center point

[0147] N surface normal

[0148] V Vertical alpha Angle of incidence dv Offset distance x Second coordinate

Claims

Patent claims 1. Method (1000) for controlling a construction robot (10), wherein the construction robot (10) is controlled to move to at least one working position (20) on a building element (12) with a tool (18) located on a manipulator of the construction robot (10), wherein the working position (20) is marked with the aid of at least one linear light beam (52), characterized in that the construction robot (10) moves the manipulator and / or the tool (18) depending on a position of an impact point (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10).

2. Method (1000) according to the preceding claim, characterized in that the position of the point of impact (AP1, AP2, AP3) is determined with the aid of at least one line light sensor (24, 26, 28) or an area light sensor.

3. Method (1000) according to one of the two preceding claims, characterized in that at least two positions of two different points of incidence (AP1, AP2, AP3) of the line light beam (52) on the construction robot (10) are detected.

4. Method (1000) according to one of the preceding claims, characterized in that at least one position of an impact point (AP1, AP2, AP3) on the manipulator is detected.

5. Method (1000) according to one of the preceding claims, characterized in that in addition at least one second coordinate (x), for example a distance to the building element (12) and / or to a second building element (12), is measured.

6. Method (1000) according to one of the preceding claims, characterized in that the manipulator of the construction robot (10) is pivoted depending on positions of at least two of the impact points (AP1, AP2, AP3).

7. Method (1000) according to one of the preceding claims, characterized in that the manipulator is inclined depending on positions of at least two of the impact points (AP1, AP2, AP3) relative to a vertical (V) and / or relative to a surface normal (N) of the building element (12) which is based in the working position (20).

8. Construction robot (10) comprising a mobile platform, for example a driving platform (14), a manipulator, for example a lifting device (16), on which a tool (18) can be arranged and / or is arranged, and at least one light sensor, wherein the construction robot (10) is set up to determine a position of an impact point (AP1, AP2, AP3) of a line light beam (52) on the construction robot (10) with the aid of the light sensor.

9. Construction robot (10) according to the preceding claim, characterized in that the construction robot (10) is configured to determine positions of at least two different points of incidence (AP1, AP2, AP3) of the line light beam (52) on the construction robot (10).

10. Construction robot (10) according to one of the two preceding claims, characterized in that the construction robot (10) has at least a total of at least two, in particular three line light sensors (24, 26, 28) and / or area light sensors.

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