Autonomous or manual work device, system, and method for operating an autonomous or manual work device

Abstract

The invention proceeds from an autonomous or manual work device (10), in particular a robot, with a machining unit (12), in particular a drilling unit, with a moving unit (14) for moving the machining unit (12) and with a control unit (16) at least for actuating the machining unit (12) and with a detection unit (18) for detecting an actual arrangement characteristic variable of at least one object (20, 24), preferably of a building part, in a working environment (22) of the machining unit (12). It is proposed that the control unit (16) is provided to determine an actual arrangement of at least two objects (20, 24) in the working environment (22) relative to one another on the basis of information detected by the detection unit (18).

Description

[0001] Description

[0002] Autonomous or manual and methods for operating an autonomous or manual

[0003] State of the art

[0004] An autonomous or manual work device with a processing unit, with a movement unit for moving the processing unit, with a control unit at least for controlling the processing unit and with a detection unit for detecting an actual arrangement parameter of at least one object in a working environment of 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, with a control unit at least for controlling the processing unit and with a detection unit for detecting an actual arrangement parameter of at least one object, preferably a part of a building, in a working environment of the processing unit

[0007] It is proposed that the control unit is provided to determine an actual arrangement of at least two objects in the work environment relative to one another on the basis of information acquired by the acquisition unit. The inventive design of the work device can achieve particularly high operational reliability. Advantageously, a particularly precise localization of the work device, in particular the processing unit and / or the movement unit, can be achieved on the basis of an actual arrangement of at least two objects in the work environment relative to one another. Advantageously, collisions between the processing unit and / or the movement unit can be counteracted particularly reliably. Advantageously, a particularly precise processing of a processing object can be realized by means of the processing unit. Advantageously, a particularly reliable and precise autonomous or manual work device can be provided.

[0008] 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 that is different from a drilling robot, for example as a painting robot, a sanding robot, a filling robot, a dowel inserting 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.The working device is preferably designed differently from an autonomous device that is permanently installed at a position, in particular differently from an industrial robot. In particular, the working device is designed to move independently. “Designed” should be understood in particular to mean specially programmed, specially designed and / or specially equipped. The fact that an object is designed for a specific function should be understood in particular to mean that the object fulfills and / or executes this specific function in at least one application and / or operating state. The working device is preferably designed as a mobile working device. The working device is preferably designed to be mobile. Alternatively, however, it is also conceivable for the working device to be designed as a drone.The working device is preferably intended for at least partially automatic processing of at least one processing object in the work environment of the processing unit. In particular, the working device is intended for at least partially automatic creation of drill holes in the processing object. The working device is preferably intended for autonomous processing of the processing object, in particular for autonomous creation of drill holes in the processing 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 processing 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 being processed is different from a part of a building, for example a particularly fixed, preferably stationary, piece of furniture or the like.

[0009] 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 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. The manipulator unit preferably has six degrees of freedom.Alternatively, however, it is also conceivable for the manipulator unit to have fewer or more 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.

[0010] 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 or other means of propulsion that appear appropriate to a person skilled in the art, or a combination thereof.

[0011] The track unit has, in particular, at least one tracked drive, preferably at least two tracked 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 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.

[0012] 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.

[0013] 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.

[0014] The work environment can, for example, be an interior area of ​​a building, an exterior area, in particular of a building, or the like. It is conceivable, for example, that the processing unit is provided to process at least the processing object according to a processing plan. The processing plan is, for example, noted 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 processing plan is, for example, stored on the memory element of the control unit. The work environment model is preferably stored on the memory element of the control unit. The control unit is, in particular, provided 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.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 wired. 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.

[0015] The actual arrangement parameter preferably has at least one distance parameter, in particular a distance value from the detection unit to the object. The actual arrangement parameter of the object can be used in particular to determine an actual arrangement of the object. The control unit is preferably provided to determine the actual arrangement of the object at least as a function of the actual arrangement parameter of the object. The actual arrangement of the object preferably corresponds to a location of the object in the working environment, in particular a position and / or an orientation of the object in the working environment.

[0016] The object, in particular the at least two objects, can each be, for example, a wall, in particular a wall section, a ceiling, in particular a ceiling section, a floor, in particular a floor section, a facade, or the like. Alternatively, however, it is also conceivable that the object, in particular the at least two objects, is / are different from a part of a building, for example a piece of furniture, in particular a fixed, preferably stationary piece of furniture, or the like. The actual arrangement of the two objects relative to one another preferably comprises at least information about a relative position of the two objects to one another and / or about a relative orientation of the two objects to one another.

[0017] In particular, the detection unit is provided to detect information relating to the respective actual arrangement parameter, in particular the actual arrangement parameter, for the at least two objects. The control unit is preferably provided to determine the respective actual arrangement for the two objects from the information detected by the detection unit, in particular as a function of the information relating to the respective actual arrangement parameters, preferably as a function of the respective actual arrangement parameters. The control unit is in particular provided to determine the actual arrangement of the two objects relative to one another for the two objects from the information relating to the respective actual arrangement parameters, preferably as a function of the respective actual arrangement parameters.The control unit is particularly intended to determine the actual arrangement of the at least two objects relative to one another based on the respective actual arrangement of the at least two objects.

[0018] It is conceivable that the work environment has at least one area, in particular a room, or a plurality of areas, in particular rooms. The at least one area, in particular a room, preferably has a plurality of objects, for example the at least two objects. The objects of the respective area can preferably be identified as measurement objects depending on the work environment model, in particular by means of the control unit. The control unit is particularly preferably provided to determine a relative actual arrangement for all objects identified as measurement objects for the at least one area, in particular a room. Particularly preferably, individual walls of an area, in particular a room, in the work environment are the measurement objects. In a preferred exemplary embodiment, the control unit is particularly provided to determine a relative actual arrangement of all walls of a room in the work environment.Alternatively, however, it is also conceivable that the control unit only determines a relative actual arrangement for the two objects.

[0019] It is further proposed that the control unit is provided to compare the actual arrangement of the two objects relative to one another in the work environment with a target arrangement of the at least two objects relative to one another from a work environment model, in particular the one already mentioned. Advantageously, an actual state of the work environment, in particular at least one actual arrangement of the two objects relative to one another, can be compared particularly conveniently and precisely with a target state of the work environment, in particular at least one target arrangement of the two objects relative to one another. Navigation of the work device adapted to the actual state of the work environment can take place during movement and / or during processing by the work device.The target arrangement of the at least two objects includes, in particular, at least one piece of information regarding a target position of the at least two objects relative to one another, in particular at least one piece of information regarding a target relative position of the two objects relative to one another and / or a target relative orientation of the two objects relative to one another. The target arrangement corresponds, for example, to a final target arrangement according to the work environment model.

[0020] Furthermore, it is proposed that the control unit be provided to control the processing unit and / or the movement unit at least partially depending on a comparison between the desired arrangement and the actual arrangement of the at least two objects. Advantageously, control of the processing unit and / or the movement unit can be adapted particularly precisely to the actual state of the work environment. Advantageously, incorrect navigation and / or operation of the work device can be counteracted particularly effectively and / or precisely. For example, it is conceivable that the control unit adapts and / or supplements the processing plan and / or the work environment model depending on the comparison.Preferably, the control unit controls the processing unit and / or the movement unit at least partially depending on the comparison between the desired arrangement and the actual arrangement of the at least two objects when moving in the work environment and / or processing the processing object by means of the processing unit.

[0021] It is further proposed that the detection unit is provided to detect at least three measuring points for the actual arrangement parameter in order to determine the actual arrangement of an object, in particular of the at least one object already mentioned. Advantageously, an actual arrangement of the object can be determined in particularly detailed and / or precise manner. Preferably, the control unit is provided to determine the actual arrangement, in particular the position and / or the orientation, of the object based on the at least three measuring points for the actual arrangement parameter of the object. The three measuring points are preferably distance parameters, in particular distance values, from the detection unit to different positions, in particular surface points, of the object.When detecting the at least three measuring points for the actual arrangement characteristic of the object, the detection unit is preferably located at the same position relative to the object and in particular at a base of the manipulator unit.

[0022] It is also proposed that the autonomous or manual work device have a further detection unit for localizing and / or navigating the processing unit and / or the movement unit in the work environment. Different detection units can advantageously be used for different functions of the work device. A particularly requirement-oriented use and / or utilization of detection units can advantageously be realized. The further detection unit is preferably designed differently from the detection unit. The further detection unit has, for example, at least one lidar unit for detecting the work environment. Alternatively or additionally, it is also conceivable for the further 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 a person skilled in the art would deem appropriate.The additional detection unit is preferably designed differently from a tachymeter. The control unit is particularly intended to evaluate the information acquired by the additional detection unit, preferably the lidar unit, based on a simultaneous localization and mapping (SLAM) method. The control unit is particularly intended to control the movement unit during a movement in the work environment depending on information acquired by the additional detection unit, preferably the lidar unit. The additional detection unit is particularly intended to determine the actual arrangement of the at least two objects relative to one another by the detection unit for a rough localization of the work device in the work environment.

[0023] It is further proposed that the detection unit be designed as a tachymeter. Advantageously, particularly precise detection of the actual arrangement parameter of the object can be realized. Advantageously, the actual arrangement of the at least two objects relative to one another can be determined particularly precisely. Advantageously, a particularly precise comparison can be made between the actual arrangement of the two objects relative to one another and the desired arrangement of the two objects relative to one another. Advantageously, a particularly high level of accuracy can be achieved when determining the actual state of the work environment. By using the tachymeter to determine the actual arrangement of the at least two objects relative to one another, particularly precise localization of the work device, in particular the processing unit and / or the movement unit, in the work environment can be enabled.Particularly precise working and / or movement of the work equipment in the work environment can be advantageously realized.

[0024] Furthermore, a system with an external unit, in particular the one already mentioned, and an autonomous or manual working device according to the invention is proposed. Advantageously, the working device can be monitored and / or controlled particularly conveniently. Advantageously, a particularly high level of flexibility in controlling the working device can be achieved. Advantageously, a particularly high level of flexibility in data processing, in particular of information acquired by means of the acquisition unit and / or the further acquisition unit, can be achieved. The external unit is preferably designed separately from the working device. Alternatively, it is conceivable for the system to be designed without an external unit.

[0025] Furthermore, it is proposed that the external unit comprise at least part of the control unit. Advantageously, system requirements for the control unit of the implement can be kept low. Advantageously, a implement with particularly low energy consumption can be provided. For example, it is conceivable that the external unit, in particular the part of the control unit comprised by the external unit, is provided to determine the actual arrangement of the at least two objects relative to one another.

[0026] Furthermore, the invention is based on a method for operating an autonomous or manual work device, in particular the autonomous or manual work device according to the invention. It is proposed that an actual arrangement of at least two objects, in particular the aforementioned ones, in a work environment of the autonomous or manual work device, in particular the aforementioned ones, is determined relative to one another. Advantageously, an actual state of the work environment can be determined particularly precisely. Advantageously, control of the work device, in particular of the movement unit and / or the processing unit, can be adapted depending on the actual arrangement of the at least two objects. Advantageously, the work device can be operated particularly safely and / or precisely.

[0027] It is further proposed that an actual arrangement of an object be determined based on at least three measurement points for an actual arrangement parameter of an object, in particular of the at least one previously mentioned object. Advantageously, an actual arrangement of the object can be determined in a particularly detailed and / or precise manner. Preferably, the actual arrangement of the at least two objects relative to one another is determined based on the previously determined respective actual arrangement of the at least two objects, in particular by means of the control unit.

[0028] The autonomous or manual work device according to the invention, the system according to the invention, and / or the method according to the invention are not intended to be limited to the application and embodiment described above. In particular, the autonomous or manual work device according to the invention, the system according to the invention, and / or the method according to the invention can have a number of individual elements, components, units, and method steps that differs from the number stated herein to fulfill a functionality described herein. Furthermore, in the value ranges specified in this disclosure, values ​​within the stated limits are also to be considered disclosed and can be used arbitrarily.

[0029] drawing

[0030] Further advantages will become apparent from the following description of the drawings. The drawings illustrate an exemplary embodiment 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 useful further combinations.

[0031] They show:

[0032] Fig. 1 shows a system according to the invention with an autonomous or manual working device in a schematic representation,

[0033] Fig. 2 the working device in a working environment in a plan view and

[0034] Fig. 3 shows a schematic sequence of a method according to the invention for operating the working device.

[0035] Description of the embodiment

[0036] Figure 1 shows a system 28 with an autonomous working device 10 and an external unit 30. The external unit 30 is designed separately from the working device 10. The external unit 30 can be connected to the working device 10 for data purposes, in particular wirelessly and / or via a cable. The external unit 30 can be designed, for example, as a smartphone, a cloud, a central computer, a server, a laptop, a smart home system, or the like. Alternatively, it is conceivable for the working device 10 to be designed as a manual working device 10. Furthermore, it is alternatively conceivable for the system to be designed without an external unit 30.

[0037] The working device 10 is designed as a processing robot, in particular as a construction site robot. The working device 10 is designed as a drilling robot. Alternatively, however, it is also conceivable for the working device 10 to be designed as a construction site robot different from a drilling robot, for example as a painting robot, a sanding robot, a filling robot, a dowel inserting 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 working device that appears appropriate to a person skilled in the art. The working device 10 is designed differently from a stationary working device.The work device 10 is designed differently from an autonomous device permanently installed at a position, in particular, differently from an industrial robot. The work device 10 is configured to move independently. The work device 10 is designed as a mobile work device. The work device 10 is designed to be mobile. Alternatively, however, it is also conceivable for the work device 10 to be designed as a drone.

[0038] The working device 10 has a processing unit 12. The processing unit 12 is embodied here, for example, as a drilling unit. The working device 10 is intended for at least partially automatic processing of at least one processing object 50 in a work environment 22 of the processing unit 12. The working device 10 is intended for at least partially automatic creation of drill holes in the processing object 50. The working device 10 is intended for autonomous processing of the processing object 50, in particular for autonomous creation of drill holes in the processing object 50. The processing object 50 is, for example, a building part, in particular a ceiling.Alternatively, it is conceivable that the processing object 50 is a wall, a floor, a facade or the like, or that the processing object 50 is different from a part of a building, for example a particularly fixed, preferably stationary, piece of furniture or the like.

[0039] The processing unit 12 has a manipulator unit 52, in particular a robot arm. The processing unit 12 has a tool unit 54, in particular an end effector. The tool unit 54 is arranged on the manipulator unit 52, preferably at a free end of the manipulator unit 52. The tool unit 54 has a tool holder for receiving a handheld power tool 56 or the like. Alternatively or additionally, it is conceivable for the tool holder to be provided for receiving a tool. The tool can be designed, for example, as a drill, a brush, a squeegee, a grinding wheel, a saw blade, a hammer, or any other tool that appears appropriate to a person skilled in the art. It is conceivable for the tool and / or the handheld power tool 56 to be part of the tool unit 54.It is also conceivable that the tool unit 54, in particular the tool and / or the handheld power tool 56, can be controlled by a control unit 16. The handheld power tool 56 is designed as a drill.

[0040] The handheld power tool 56 can be designed as a commercially available handheld power tool. The handheld power tool 56 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 56 to be specifically designed to interact with the processing unit 12. Alternatively, it is also conceivable for the handheld power tool 56 to be designed as a screwdriver, a jigsaw, a cut-off grinder, a circular saw, a demolition hammer, a nail gun, a grinder, or any other handheld power tool 56 that a person skilled in the art would consider appropriate. The manipulator unit 52 has six degrees of freedom. Alternatively, however, it is also conceivable for the manipulator unit 52 to have fewer or more than six degrees of freedom. The manipulator unit 52 can be controlled via the control unit 16.The control unit 16 is provided to control the processing unit 12, in particular the manipulator unit 52 and / or the tool unit 54, preferably the tool and / or the hand-held power tool 56, when processing the processing object 50.

[0041] The work tool 10 has a movement unit 14 for moving the processing unit 12. The movement unit 14 is provided for generating a movement force. The processing unit 12, in particular the manipulator unit 52, is arranged on, preferably on, the movement unit 14. The tool unit 54 is at least mechanically connected to the movement unit 14 via the manipulator unit 52. The movement unit 14 is provided for moving the processing unit 12 on a base 68, here, for example, a floor. Alternatively, it is also conceivable that the base 68 is a wall and / or a ceiling.

[0042] The movement unit 12 is intended to move the autonomous work device

[0043] 10 as a whole over the ground 68. The locomotion unit

[0044] 14 has a chassis 58. The locomotion unit 14, in particular the chassis 58, has a wheel unit 60. The wheel unit 60 comprises four wheels 62 (only two of the four wheels 62 are shown in Figure 1). Alternatively, it is also conceivable for the wheel unit 60 to have only one wheel 62, two wheels 62, three wheels 62, or more than four wheels 62.

[0045] Alternatively or additionally, it is conceivable for the locomotion unit 14 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 10 designed as a drone, the locomotion unit 14 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.

[0046] The propulsion unit 14 has at least one drive unit (not shown here). The drive unit is intended to drive the chassis 58, in particular the wheel unit 60. The drive unit comprises at least one electric motor or the like. A movement of an implement frame 64 of the autonomous work device 10, in particular of the propulsion unit 14, is coupled to a drive, in particular a movement, of the chassis 58. A movement of the implement frame 64 can be generated by the chassis 58, which is preferably driven by the drive unit.

[0047] The system 28, in particular the work device 10, has the control unit 16 at least for controlling the processing unit 12. It is conceivable that the external unit 30 has at least part of the control unit 16. The movement of the device frame 64 depends on a control by the control unit 16. The drive unit is provided to drive the chassis 58 to a translational and / or rotational movement of the device frame 64, in particular depending on a control by the control unit 16. The control unit 16 comprises in particular at least one processor and a 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 12, in particular the tool unit 54 and / or the manipulator unit 52, can be controlled by means of the control unit 16.

[0048] The autonomous work device 10 has a height-adjustable work platform 66. Alternatively, it is also conceivable for the autonomous work device 10 to be designed without a height-adjustable work platform 66. The work platform 66 is arranged on the movement unit 14. The manipulator unit 52 is arranged on the work platform 66. The work platform 66 is height-adjustable relative to the base 68 on which the autonomous work device 10, in particular the movement unit 14, is arranged. The autonomous work device 10 has a lifting unit 70. The work platform 66 is height-adjustable by means of the lifting unit 70. The lifting unit 70 has a telescopic rod 72. The telescopic rod 72 is designed as a hydraulic telescopic rod. Alternatively, it is also conceivable for the lifting unit 70 to have more than one telescopic rod 72.Furthermore, it is alternatively or additionally conceivable for the lifting unit 70 to have a scissor lifting mechanism, a linear drive, for example a rack and pinion, a linear chain, a ball screw, a linear motor, or the like. The work platform 66 is connected to the movement unit 14 via the lifting unit 70, in particular the telescopic rod 72. The lifting unit 70 is connected to the control unit 16, in particular wirelessly and / or via a cable. The lifting unit 70 is part of the processing unit 12.

[0049] It is conceivable, for example, that the processing unit 12 is provided to process at least the processing object 50 according to a processing plan. The processing plan is noted, for example, in a work environment model of the work environment 22 of the processing unit 12. The work environment model is a Building Information Modeling (BIM) model or the like. The processing plan is stored, for example, on the memory element of the control unit 16. The work environment model is stored on the memory element of the control unit 16. The control unit 16 is provided to navigate the movement unit 14 and / or the processing unit 12 in the work environment 22, at least based on the processing plan and / or the work environment model. Alternatively, it is also conceivable that the work environment model is stored on the external unit 30.

[0050] The work device 10 has a detection unit 18 for detecting an actual arrangement parameter of at least two objects 20, 24 in the work environment 22 of the processing unit 12 (see Figure 2). In particular, the detection unit 18 is provided to detect information about the respective actual arrangement parameter, in particular the actual arrangement parameter, for the at least two objects 20, 24. The control unit 16 is provided to determine the respective actual arrangement for the two objects 20, 24 from the information about the respective actual arrangement parameter, in particular the respective actual arrangement parameter, detected by the detection unit 18.

[0051] The detection unit 18 is designed as a tachymeter. The work environment 22 here is, by way of example, an interior area of ​​a building 74. Alternatively or additionally, it is conceivable for the work environment 22 to comprise an outdoor area, in particular of a building, or the like. The actual arrangement parameter of the objects 20, 24 each has at least one distance parameter, in particular a distance value from the detection unit 18 to the respective object 20, 24. The actual arrangement parameter of the respective object 20, 24 can be used to determine an actual arrangement of the respective object 20, 24. The control unit 16 is provided to determine the actual arrangement of the object 20, 24 at least as a function of the actual arrangement parameter of the respective object 20, 24.The actual arrangement of the respective object 20, 24 corresponds to a position of the object 20, 24 in the working environment 22, in particular a position and / or an orientation of the object 20, 24 in the working environment 22.

[0052] The objects 20, 24 are walls in the work environment 22. Alternatively, it is conceivable that the objects 20, 24 are wall sections, ceilings, in particular ceiling sections, floors, in particular floor sections, facades or the like in the work environment 22. Furthermore, it is alternatively conceivable that the objects 20, 24 are different from building parts, for example, in particular fixed, preferably stationary, pieces of furniture or the like. The control unit 16 is provided to determine an actual arrangement of the at least two objects 20, 24 in the work environment 22 relative to one another based on information acquired by the acquisition unit 18. The actual arrangement of the two objects 20, 24 relative to one another comprises at least one piece of information relating to a relative position of the two objects 20, 24 to one another and / or to a relative orientation of the two objects 20, 24 to one another.

[0053] The control unit 16 is provided to determine the actual arrangement of the at least two objects 20, 24 relative to one another based on the respective actual arrangement of the at least two objects 20, 24.

[0054] The work environment 22 here, for example, has three areas, in particular rooms 76, 78, 80. Alternatively, it is conceivable that the work environment has only one area, in particular only one room 76, 78, 80, two areas, in particular two rooms 76, 78, 80, or more than three areas, in particular rooms 76, 78, 80.

[0055] Here, for example, an area, in particular a room 76, which has three areas, in particular rooms 76, 78, 80, has objects 20, 24, 82, 84, 86. The objects 20, 24, 82, 84, 86 of the area, in particular of the room 76, can be identified as measurement objects depending on the work environment model, in particular by means of the control unit 16. Particularly preferably, individual walls of the respective area, in particular of the respective room 76, 78, 80, in the work environment 22 are the measurement objects. The control unit 16 is provided to determine a relative actual arrangement for all objects 20, 24, 82, 84, 86 identified as measurement objects for the at least one area, in particular the room 76. Preferably, the control unit 16 is provided to determine a relative actual arrangement of all walls of the room 76 in the working environment.

[0056] The control unit 16 is provided to compare the actual arrangement of the at least two objects 20, 24 relative to one another in the work environment 22 with a target arrangement of the at least two objects 20, 24 relative to one another from the work environment model of the work environment 22. The target arrangement of the at least two objects 20, 24 comprises at least one piece of information relating to a target position of the at least two objects 20, 24 relative to one another, in particular at least one piece of information relating to a target relative position of the two objects 20, 24 relative to one another and / or to a target relative orientation of the two objects 20, 24 relative to one another. The target arrangement corresponds, for example, to a final target arrangement according to the work environment model.

[0057] The control unit 16 is provided to control the processing unit 12 and / or the movement unit 14 at least partially depending on a comparison between the desired arrangement and the actual arrangement of the at least two objects 20, 24. For example, it is conceivable that the control unit 16 adapts and / or supplements the processing plan and / or the work environment model depending on the comparison. The control unit 16 controls the processing unit 12 and / or the movement unit 14 at least partially depending on the comparison between the desired arrangement and the actual arrangement of the at least two objects 20, 24 when moving in the work environment 22 and / or processing the processing object 50 by means of the processing unit 12.

[0058] The detection unit 18 is provided to detect at least three measuring points for the respective actual arrangement parameter in order to determine the respective actual arrangement of the at least two objects 20, 24. The control unit 16 is provided to determine the actual arrangement, in particular the position and / or orientation, of the respective object 20, 24 based on the at least three measuring points for the actual arrangement parameter of the respective object 20, 24. The three measuring points are distance parameters, in particular distance values, from the detection unit 18 to different positions, in particular surface points, of the respective object 20, 24. The detection unit 18 is located at the same position relative to the objects 20, 24 when detecting the at least three measuring points for the actual arrangement parameter of the respective object 20, 24.

[0059] The work device 10 has a further detection unit 26 for localizing and / or navigating the processing unit 12 and / or the movement unit 14 in the work environment 22. The further detection unit 26 is designed differently from the detection unit 18. The further detection unit 26 has, for example, at least one lidar unit for detecting the work environment 22. Alternatively or additionally, it is also conceivable for the further detection unit 26 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 further detection unit 26 is designed differently from a tachymeter. The control unit 16 is provided to evaluate the information acquired by the further detection unit 26, preferably the lidar unit, based on a simultaneous localization and mapping (SLAM) method.The control unit 16 is provided to control the movement unit 14 during a movement in the work environment 22 depending on information acquired by the additional detection unit 26, preferably the lidar unit. The additional detection unit 26 is provided, in particular, for determining the actual arrangement of the at least two objects 20, 24 relative to one another by the detection unit 18 for a rough localization of the work device 10 in the work environment 22.

[0060] Figure 3 shows a schematic sequence of a method for operating the working device 10.

[0061] In a method step, in particular in an export step 32, the work environment model of the work environment 22 is exported for processing by the control unit 16. In a method step, in particular in a subdivision step 34, individual walls are identified in the work environment model, for example, and in particular identified as measurement objects. The individual walls, in particular the measurement objects, correspond here, using the example of room 76, to objects 20, 24, 82, 84, 86 in the work environment 22.

[0062] In one method step, in particular in a conversion step 36, the work environment model is converted into a SLAM map. In one method step, in particular in a localization step 38, a position of the work device 10, in particular of the movement unit 14 and / or the processing unit 12, in the work environment 22 and in particular in the work environment model is determined using the further detection unit 26 and the SLAM map in a localization and mapping (SLAM) method.

[0063] In a method step, in particular in a measuring step 40, three measuring points for the actual arrangement parameter are recorded on at least two objects 20, 24, preferably on all objects 20, 24, 82, 84, 86 of the space 76, in the working environment 22, preferably by means of the recording unit 18.

[0064] In a method step, in particular in a processing step 42, an actual arrangement of the respective object 20, 24 is determined on the basis of at least three measuring points for the actual arrangement characteristic of the respective object 20, 24, in particular by means of triangulation, preferably by means of the control unit 16.

[0065] In one method step, in particular in a position determination step 44, an actual arrangement of at least two objects 20, 24 in the working environment 22 of the work device 10 relative to one another is determined. Preferably, in each room 76, 78, 80 of the working environment 22, all objects 20, 24, 82, 84, 86 identified as measurement objects, in particular all walls, are measured. Alternatively, however, it is also conceivable that only two objects 20, 24 identified as measurement objects in the working environment 22 are measured.

[0066] In a method step, in particular in a comparison step 46, the actual arrangement of the at least two objects 20, 24 relative to one another in the working environment 22 is compared with a desired arrangement of the at least two objects 20, 24 relative to one another from the working environment model.

[0067] In a method step, in particular in a localization and / or navigation step 48, the working device 10, in particular the movement unit 14 and / or the processing unit 12, is controlled depending on the comparison, for example during a movement of the movement unit 14 and / or the processing unit 12 and / or during a processing of the processing object 50 by means of the processing unit 12.

Claims

Claims 1. Autonomous or manual work device (10), in particular a robot, with a processing unit (12), in particular a drilling unit, with a movement unit (14) for moving the processing unit (12) and with a control unit (16) at least for controlling the processing unit (12) and with a detection unit (18) for detecting an actual arrangement parameter of at least one object (20, 24), preferably a part of a building, in a working environment (22) of the processing unit (12), characterized in that the control unit (16) is provided to determine an actual arrangement of at least two objects (20, 24) in the working environment (22) relative to one another on the basis of information detected by the detection unit (18).

2. Autonomous or manual work device (10) according to claim 1, characterized in that the control unit (16) is provided to compare the actual arrangement of the two objects (20, 24) relative to one another in the work environment (22) with a desired arrangement of the at least two objects (20, 24) relative to one another from a work environment model of the work environment (22).

3. Autonomous or manual working device (10) according to claim 2, characterized in that the control unit (16) is provided to control the processing unit (12) and / or the movement unit (14) at least partially as a function of a comparison between the desired arrangement and the actual arrangement of the at least two objects (20, 24).

4. Autonomous or manual working device (10) according to one of the preceding claims, characterized in that the detection unit (18) is provided to detect at least three measuring points for the actual arrangement characteristic in order to determine the actual arrangement of an object (20, 24).

5. Autonomous or manual working device (10) according to one of the preceding claims, characterized by a further detection unit (26) for localization and / or navigation of the processing unit (12) and / or the movement unit (14) in the working environment (22).

6. Autonomous or manual working device (10) according to one of the preceding claims, characterized in that the detection unit (18) is designed as a tachymeter 7. System (28) with an external unit (30) and an autonomous or manual working device (10) according to one of the preceding claims.

8. System (28) according to claim 7, characterized in that the external unit (30) comprises at least part of the control unit (16).

9. A method for operating an autonomous or manual work device (10), in particular according to one of the preceding claims, characterized in that an actual arrangement of at least two objects (20, 24) in a working environment (22) of the autonomous or manual work device (10) is determined relative to one another.

10. The method according to claim 9, characterized in that an actual arrangement of the object (20, 24) is determined on the basis of at least three measuring points for an actual arrangement characteristic of an object (20, 24).

Images