Method for controlling a construction robot and construction robot

Abstract

The present invention relates to a method (1000) for controlling a construction robot (10), wherein the construction robot (10) is controlled to move a tool (18) located on a manipulator of the construction robot (10) towards at least one work position (20) on a building element (12), said work 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) based on the positions of the points of incidence (AP1, AP2, AP3) of the linear light beam (52) on the construction robot (10).

Description

[Technical Field]

[0001] The present invention relates to a method for controlling a construction robot, wherein the construction robot is controlled to move with a tool arranged on a manipulator of the construction robot to at least one working position on a building element, the working position being marked by at least one line light beam, and the construction robot can then perform construction work at the working position. [Background technology]

[0002] For this purpose, image processing can first be used to record and evaluate the light image drawn by the line light beam on the building element in order to determine the position of the marked work position. Then the construction robot position and the construction robot position of the construction robot can be determined. These different data can be combined to determine the path along which the tool can move to the work position.

[0003] However, this method often fails. Often, installation elements already exist on building elements, such as building ceilings. These can block the line of sight between the construction robot and the work position located on the building element, meaning that the construction robot cannot pick up the optical image of the marked work position. Such interferences, such as the installation elements mentioned above, can also lead to errors in determining the position of the work position. For example, there can be confusion between the portion of the line light beam that hits the interference object and the portion of the line light beam that actually marks the work position on the building element. The different heights of these different portions can lead to an apparent offset in the work position of the construction robot.

[0004] However, if the work position is not determined accurately, this can lead to construction work being carried out in the wrong position. During drilling operations, for example, holes can be drilled in an inappropriate position. During chiseling operations, this can lead to the unintentional destruction of building elements or other nearby objects. Summary of the Invention [Problem to be solved by the invention]

[0005] It is therefore an object of the present invention to provide a method that enables a construction robot to reliably move together with a tool to a working position on a building element that has been marked by a line light beam, and a further object of the present invention to provide a construction robot that can reliably perform construction work at a working position that has been marked by a line light beam. [Means for solving the problem]

[0006] This object is achieved by a method for controlling a construction robot, wherein the construction robot is controlled to move with a tool arranged on a manipulator of the construction robot to at least one working position on a building element, the working position being marked by at least one line light beam, and the construction robot moves the manipulator and / or the tool depending on the position of the impact point of the line light beam on the construction robot.

[0007] In particular, the invention is based on the surprising idea that, when the line light beam hits the construction robot, it traces itself a straight line path from the construction robot to the work position. Data on the path to the work position can therefore be obtained not only by considering the work position of the building element itself, but also by considering the line light beam, in particular, at a distance from the building element. If the line light beam is considered not in the region of the building element but in the immediate vicinity of the construction robot, interference effects such as the above-mentioned line of sight blockage and apparent offset due to interfering objects, particularly when it hits the construction robot, can be avoided or at least reduced. As a result, by detecting the position of at least one collision point on the construction robot, the path to the work position can be determined with a very high degree of reliability.

[0008] It is therefore conceivable that the construction robot detects that the line light beam is passing through the tool, i.e. that the tool has not reached the working position at its current position, and the construction robot can then be configured to make corrective movements that realign the tool along the line light beam, at least with sufficient accuracy.

[0009] The tool may thus be guided along the line light beam by stepwise movements until it finally reaches the working position.

[0010] In principle, it is at least known in which direction the work position is expected, e.g., for a work position on the ceiling of a building, it is known that this must be above the construction robot located on the floor of the building, and therefore the direction that the line light beam should follow can be derived from this.

[0011] This method can be used for different types of line light beams. For example, the line light beam can be a continuous light beam. It is also conceivable that the line light beam corresponds to one or more moving light spots, such as those generated by a rotating laser. Alternatively or additionally, the light can be pulsed light.

[0012] Preferably, the method can be used with light in the infrared, visible or ultraviolet range. However, alternatively or additionally, it is also conceivable to use the method with electromagnetic radiation in other frequency ranges, for example microwaves. Preferably, optical sensors adapted to a specific frequency range can be used for this purpose, for example infrared sensors, optical sensors suitable for visible light or UV sensors.

[0013] The position of the impact point can be determined, in particular, by at least one line or area optical sensor. Such optical sensors can be used to monitor elongated or flat areas along the construction robot for impacts of the line light beam, making it easier to locate the line light beam. The line optical sensor can, for example, have a width of at least 5 cm, in particular at least 28 cm. The area optical sensor can, for example, have an area of ​​at least 5 cm x 5 cm. The line optical sensor can, in particular, offer a balanced ratio between cost and monitored area.

[0014] In particular, it is conceivable to detect at least two positions of two different impact points of the line light beam on the construction robot. This can already be done with a single area light sensor. Several light sensors, for example, several line light sensors and / or area light sensors, preferably spaced apart from one another, can also be used for this purpose. Overall, this can open up the possibility of also determining the alignment of the line light beam.

[0015] It is conceivable to detect at least one position of the collision point on the manipulator. For this purpose, an optical sensor, for example, a line optical sensor, can be arranged on the manipulator and / or on the manipulator. Any necessary corrective movements can then be derived directly from the determined position of the collision point. Thus, an additional determination of the relative position of the manipulator with respect to the base of the construction robot, for example, the mobile platform, can be omitted.

[0016] The line light beam can also be used to mark multiple work positions. For example, a construction job can consist of performing several construction jobs along the line light beam at certain distances on a building element. For example, a construction job may consist of drilling holes in a building element at specific distances from each other along the line light beam.

[0017] This method may be particularly suitable in such cases, since it already makes it possible in principle to follow the path of a line light beam.

[0018] In order to be able to check the distance between individual construction tasks or work positions, for example, at least one second coordinate, for example the distance to the building element and / or a second building element, can also be measured.

[0019] The construction robot used for the method may have a lifting device, which may be part of a manipulator.

[0020] For construction robots configured to perform construction work on building ceilings, it may be sufficient for the manipulator, in particular the lifting device, to have only one degree of freedom. The lifting device may, for example, be variable in length; it may be telescopic. Fewer degrees of freedom may save on manufacturing costs. The manipulator may also be designed specifically for heavy loads.

[0021] If the positions of at least two different impingement points are determined, the path of the line light beam can be determined.

[0022] This path is also linear, at least in free space. Therefore, it is possible to provide for the lifting device of the construction robot to move in response to at least two positions of the impact point. Therefore, to approach a working position on the building ceiling, the path of the line light beam can first be determined, and in particular, for example, the inclination angle of the line light beam relative to the vertical line and / or the surface normal of the building ceiling can be determined according to the working position. The lifting device can then be tilted until it assumes a position corresponding to the determined inclination angle. The lifting device can then be extended linearly until it reaches the building ceiling. In this way, the tool on the manipulator can be guided parallel to at least a portion of the line light beam.

[0023] Overall, it may therefore be advantageous to tilt the lifting device relative to the vertical and / or relative to the surface normal of the building element based on the working position depending on at least two positions of the impact point.

[0024] A construction robot for performing construction tasks on building elements, comprising a portable platform, a manipulator capable of and / or for placing tools, and at least one optical sensor, the construction robot being configured to determine the position of the impact point of a line light beam on the construction robot by means of the optical sensor, is included within the scope of the present invention.

[0025] Such construction robots provide the prerequisites for carrying out the above-described method.

[0026] Preferably, the construction robot may have a control unit. The control unit may have a computer. The computer may have a processor and a memory in which executable program code is stored on the processor. The program code may be designed such that the method is performed by the construction robot when the program code is executed on the processor.

[0027] In particular, the construction robot may be configured to determine the location of at least two different impact points of the line light beam on the construction robot.

[0028] The construction robot may have at least one optical sensor, in particular a line optical sensor and / or an area optical sensor. Preferably, the construction robot may have a total of at least two optical sensors. In particular, the construction robot may be configured to detect at least two different impact points of the line optical beam using at least two optical sensors. Several optical sensors may be arranged at a distance from each other. This allows the position of the impact point to be determined from a particularly large area. Thus, the path of the line optical beam can be determined with a certain precision.

[0029] The construction robot may have at least one range finder so that further data on the position of the work position can be obtained independently of the line light beam.

[0030] It is also conceivable that a construction robot is configured to carry out the above-described method. For this purpose, the construction robot can be configured to record and evaluate the optical images. The data obtained in this way can be used for error compensation in order to determine the position of the work position more accurately, and if necessary more reliably.

[0031] The construction robot can be configured to perform construction tasks along a line light beam on the surface of the building element, in particular to perform identical construction tasks at several work positions equally spaced apart from one another.

[0032] The construction robot may have a range finder, e.g., a laser range finder. The range finder may be positioned and / or aligned horizontally. The range finder may be configured to recognize a marking, e.g., a reflective surface, of the position marker. The range finder may be set to measure only when the marking, in particular the reflective surface, is recognized.

[0033] The construction robot may also have at least one odometric rangefinder, particularly at least one radometric sensor. Measurement data from the rangefinder may be prioritized over odometric measurement data. In particular, as long as there is no excessive discrepancy between the odometric measurement data and the rangefinder measurement data, the rangefinder measurements may be used to improve system accuracy.

[0034] The portable platform may also comprise a movable platform. To ensure sufficient safety against tipping, the portable platform, in particular the movable platform, may have at least three, preferably mutually independent, drive points. To enable the portable platform to be movable, at least one, preferably at least two, of the drive points may be motor-driven. A drive point may be, for example, a propeller, a wheel, a chain drive, and / or a drive leg.

[0035] The mobile platform may, for example, comprise a wheeled chassis, which may, for example, have three or four wheels.

[0036] The portable platform may have a carrier, and the manipulator may be disposed on the carrier.

[0037] The portable platform may be configured to pivot the manipulator relative to a vertical line and / or a surface normal of the building element to be worked on, for which purpose the carrier may be pivotally arranged on the portable platform.

[0038] The manipulating movements of a portable platform, in particular a movable platform, can be reduced or avoided if the manipulator is pivoted until the tool reaches the working position. For this purpose, in particular, the tool with its longitudinal axis can be oriented at an oblique angle of incidence relative to the surface normal of the building element in the working position.

[0039] By pivoting the carrier and / or the manipulator, unevenness of the surface on which the construction robot is positioned can also be compensated for.

[0040] The manipulator may have a machine tool at its free end, and the tool may be housed in the machine tool.

[0041] The manipulator may also comprise a lifting device. In particular, the manipulator may be configured as a lifting device. The lifting device may have a variable length, in particular may be telescopic. Such a manipulator may be particularly suitable for working on the ceilings of buildings.

[0042] The construction robot may be suitable for use with different types of machine tools and tools.

[0043] Examples of tools may be drilling tools, in particular for hammer drilling in masonry, steel drilling tools or wood drilling tools, chisel tools or setting tools. The setting tool may for example be a tool for setting, in particular for setting fastening elements such as screws, nails, anchors or dowels. It is also conceivable that the tool is a marking tool, for example a paint spray nozzle. It is also conceivable that the tool is a monitoring and / or measuring tool, for example the tool may be equipped with a rangefinder and / or a camera.

[0044] As a tool, the mechanical tool may be a power drill, in particular a hammer drill, a power chisel, a fastening device, for example a direct fastening device for fastening nails, an electric screwdriver, such as a percussive or non-percussive screwdriver, etc.

[0045] To control one or more, preferably all, of the above functions of the construction robot, the construction robot may have a control computer.

[0046] The control computer may have a processor, a memory unit, and program code executable on the processor. The processor may have one or more sub-processors. The program code, when executed on the processor, may be configured to perform one or more, in particular all of the functions, by controlling corresponding elements of the construction robot.

[0047] In particular, it is conceivable that the program code of the construction robot, in particular the control computer of the construction robot, is configured to carry out the above-mentioned method by controlling further elements of the construction robot.

[0048] The construction robot may have acceleration and / or tilt sensors, for example, inertial measurement units, hereinafter referred to as "IMUs." The acceleration and / or tilt sensors may be located on the movable platform. Alternatively or additionally, they may also be located on the lifting device and / or on the machine tool.

[0049] Construction robots may be configured to perform construction tasks at construction and / or civil engineering sites.

[0050] The building elements may include, for example, building ceilings, building walls, and / or building floors.

[0051] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the invention, with reference to the drawing figures which show the details essential to the invention, and from the claims. The features shown therein should not necessarily be understood to be to scale, but are shown so as to clearly show the particular features according to the invention. The various features can be implemented individually by themselves or collectively in any combination in a variant of the invention.

[0052] Exemplary embodiments of the invention are shown in the schematic drawings and explained in detail in the following description. [Brief explanation of the drawings]

[0053] [Figure 1] FIG. 1 is a perspective view of a construction robot and a building element. [Figure 2] FIG. 2 is a side view of the construction robot according to FIG. [Figure 3] FIG. 2 is a plan view of the construction robot according to FIG. [Figure 4]FIG. 2 is a bottom view of the construction robot according to FIG. [Figure 5] FIG. 10 is a partial view showing the angle of incidence of the construction robot on the building element. [Figure 6] 1 is a schematic diagram of a line laser marking several work positions with a line light beam that is detected by a construction robot. [Figure 7] FIG. 1 is a front view of a construction robot illuminated by a line light beam. [Figure 8] 1 is a flowchart of a method for controlling a construction robot. DETAILED DESCRIPTION OF THE INVENTION

[0054] In the description of the figures that follows, understanding is facilitated by using the same reference numerals in each case for identical or functionally corresponding elements across the various figures.

[0055] Figure 1 shows a construction robot 10 for performing operations on a building element 12. Figure 2 shows a side view of the construction robot 10. Figures 3 and 4 show top and bottom views of the construction robot 10, respectively.

[0056] The construction robot 10 comprises a portable platform in the form of a movable platform 14, a manipulator in the form of a lifting device 16, and a mechanical tool 17 arranged on the lifting device 16. A tool 18 is received in the power tool 17. The tool 18 contacts a working position 20 on the building element 12. 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 are located along the lifting device 16. The construction robot 10 further comprises a control computer 46. Furthermore, the construction robot has a laser distance meter 48 on its rear side, in particular opposite the line light sensors 26, 28.

[0057] The power tool 17 is configured as a hammer drill, and the tool 18 is a concrete drill.

[0058] The building element 12 is a building ceiling made of reinforced concrete.

[0059] In a working position 20, the construction robot 10 is configured to drill holes in a building element 12 designed as a building ceiling.

[0060] The line light sensors 24, 26, 28 are configured to detect the position of an incident light beam or light spot. For this purpose, they each have a light-sensitive sensor line 29. For ease of illustration, only one of the sensor lines 29 is provided with a reference number in FIG. 1. The light-sensitive sensor line 29 may have a width of, for example, 10 cm. A matrix of light-sensitive individual sensors extends across the width of the sensor line 29.

[0061] The first line optical sensor 24 and the second line optical sensor 26 are arranged offset vertically. The third line optical sensor 28 is arranged diagonally forward and below the second line optical sensor 26.

[0062] Alternatively or additionally, the prism 22 may be used to determine the position and / or orientation of the construction robot 10 , in particular the tool 18 , in particular in combination with a total station.

[0063] The movable platform 14 has four drive points 30, only three of which are visible in FIG. 1 for reasons of presentation. The drive points 30 have wheels. The wheels are omnidirectional wheels. It is conceivable, although not required, that the wheels are omnidirectional wheels.

[0064] Each of the drive points 30 has a height adjustment device 32. The height adjustment device 32 is engaged with a support 34. The lifting device 16 is arranged on the support 34. The height adjustment device 32 therefore makes it possible to pivot the support 34. Therefore, by pivoting the support 34, it is also possible to pivot the lifting device 16 and the powered tool 17 connected to the lifting device 16, and therefore the tool 18. Thus, as will be explained in more detail later in relation to Figure 5, the construction robot 10 can pivot the lifting device 16, and therefore the powered tool 17, together with its tool 18, relative to the surface normal of the building element 12 by means of the height adjustment device 32 of the mobile platform 14.

[0065] The height adjustment devices 32 are of self-locking design. For this purpose, they may have a worm gear mechanism. Therefore, the tilt angle of the height adjustment device 32, and thus the movable platform 14, is adjusted only when the worm gear mechanism is moved, for example, by a servo motor.

[0066] The lifting device 16 has a single degree of freedom. In particular, it is of variable length. In particular, as can be seen in Fig. 2, the locking lever 36 can be used to release the lower part 38 of the lifting device 16, move it manually along the remainder of the lifting device 16, and then lock it back in place on the remainder of the lifting device 16. In this way, the construction robot 10 can first be manually set to roughly a first length or height, from which point the construction robot 10 can automatically extend, as required, in particular electrically driven, the upper part 40 of the lifting device 16 until the tool 18 reaches the working position 20 or, if applicable, penetrates the building element 12 in this position.

[0067] Overall, the construction robot 10 is sized so that its total weight is less than 50 kg. For example, as shown in Figures 1 and 2, when the construction robot 10 is retracted to its minimum length, it has a height of, for example, less than 1.5 m. The mobile platform 14 occupies an area of ​​less than 60 x 60 cm. As a result, the construction robot 10 can be easily carried by construction workers and transported within a conventional building, for example, from one room to another.

[0068] Furthermore, the construction robot 10 has an operating mode selection switch 42 (see in particular FIG. 2 ). The operating mode selection switch 42 allows the construction robot 10 to be operated in a first operating mode in which the robot automatically approaches the work 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, it is possible to manually pivot the lifting device 16 in a desired direction by means of appropriately directed pressure.

[0069] 4 shows a schematic representation of the IMU 44. The IMU 44 is located on the support 34 and is therefore not visible in the bottom view of the construction robot 10 of FIG.

[0070] Furthermore, FIG. 4 shows the center point M of the support 34 .

[0071] The construction robot 10 is configured to measure accelerations and tilt angles of the support 34 relative to the horizontal by means of the IMU 44. In this way, for example, irregularities in the underlying surface can be detected by means of the IMU 44. Furthermore, the construction robot 10 is configured to compensate for such tilt angles and / or irregularities by means of the height adjustment device 32, in particular during the movement of the mobile platform 14, so that the construction robot 10 is continuously protected from tipping over.

[0072] FIG. 5 is used to explain in more detail how the tool 18 is aligned obliquely with its longitudinal axis A at an angle of incidence alpha relative to the surface normal N of the building element 12 on which the work is to be performed.

[0073] To this end, for the sake of simplicity, Figure 5 shows a part of the lifting device 16. In particular, Figure 5 shows that the tool 18 comes into oblique contact with the building element 12 in a working position 20.

[0074] This provides an angle of incidence alpha between the longitudinal axis A of the tool 18 and the surface normal N passing through the work position 20, which is in particular different from zero.

[0075] In this case, the building element 12 extends horizontally and corresponds to the building ceiling, so that in the exemplary embodiment shown the surface normal N also extends parallel to the vertical line V.

[0076] Here, for reasons of presentation, the angle of incidence alpha is significantly exaggerated in Figure 5. In practical use cases, the angle of incidence alpha may be less than 10°, in particular less than 5°, particularly preferably less than 1°, for example greater than 0.1°.

[0077] The oblique positioning of tool 18 according to incidence angle alpha reveals that center point M (see FIG. 2) of carrier 34 is a horizontal distance L from plumb point LP obtained from a perpendicular line dropped from work position 20 to the underlying surface. As a result, center point M is also a horizontal distance L from work position 20.

[0078] The construction robot 10 is therefore configured to perform a construction task, in this case drilling, at the working position 20, even if the mobile platform 14, in particular the center point M, is not vertically below the working position 20. This eliminates the need to move the mobile platform 14 in a suitable way to bring the center point M vertically below the working position 20. It is clear that this makes it possible to reach even working positions 20 that would otherwise be impossible to reach due to a lack of free space for the mobile platform 14. As a result, in particular edge regions of the building element 12 can be reached for the first time or at least more easily.

[0079] In a second operating mode, i.e. a manual operating mode, the angle of incidence can be set by manual guidance of the lifting device 16. In particular, the lifting device 16 can be pivoted by pressure on the lifting device 16. Here, the construction robot 10 is configured to limit the maximum permissible deflection and therefore the maximum achievable angle of incidence alpha, to such an extent that, also in this operating mode, the construction robot 10 does not tip over at any time.

[0080] In both operating modes, the construction robot 10 is configured to set or support the respectively realized tilt of the lifting device 16, and thus of the angle of incidence alpha, by subsequent adjustment of the height adjustment device 32. In the second operating mode, this has the effect that, for example, the manually set tilt of the lifting device 16 is maintained after the lifting device 16 has been released. Thus, the user can approach the working position 20 with the tool 18, for example, by extending the lifting device 16 under control by a remote control (not shown).

[0081] The three line light sensors 24, 26, 28 can detect the profile of a line light beam, e.g., a correspondingly aligned laser beam, indicative of the work location 20. From the detected profile of the line light beam, it is possible to infer the position of the work location 20. For example, if it is known that the line light beam is precisely vertically aligned, the three line light sensors 24, 26, 28 can alternatively or additionally be used to determine the tilt angle of the lifting device 16.

[0082] For this purpose, Figure 6 shows a schematic diagram of a line laser 50 marking the positions of several work positions 20 on a building element 12, which are spaced apart at a predetermined constant distance from one another, by means of a line light beam 52. The line laser 50 is a continuous light laser. The line light beam 52 is emitted from the line laser 50 with a beam angle of, for example, 180°. It therefore marks a continuous line 54 along the building element 12.

[0083] At three impingement 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).

[0084] By means of its laser range finder 48, the construction robot 10 uses a measurement beam 56 to measure a second coordinate x relative to a position marker 58. For this purpose, the position marker 58 is in the form of a reflector, which is fixed to a wall 60.

[0085] FIG. 7 shows a front view of the construction robot 10 in the situation according to FIG.

[0086] It can be seen that the line light beam 52 is offset from the longitudinal axis A of the tool 18 by an offset distance dv. The tool 18 is therefore aligned with a target point 62 on the building element 12 that is spaced from the work point 20.

[0087] Line light beam 52 strikes line light sensors 24, 26, and 28 at impingement points AP1, AP2, and AP3.

[0088] In the example shown in FIG. 7, the lift device 16 is aligned vertically so that its longitudinal axis A extends parallel to the line light beam 52, which is also aligned vertically.

[0089] Thus, the distance of impingement points AP1, AP2, and AP3 from longitudinal axis A corresponds to offset distance dv in this example. If line light beam 52 is not parallel to longitudinal axis A, different distances will appear on the individual line light sensors 24, 26, 28, and therefore the tilt of the longitudinal axis relative to line light beam 52 can be inferred from these differences.

[0090] The construction robot 10 measures these distances of the impact points AP1, AP2, and AP3 from the longitudinal axis A and uses them to determine the offset distance dv. From this, the construction robot 10 then determines the incidence angle alpha (see FIG. 5) according to which the lifting device 16, and therefore the tool 18, must pivot along the direction marked by the arrow in FIG. 7 so that the tool 18 can move to the working position 20.

[0091] As described in relation to Figure 5, the construction robot 10 then swivels the lifting device 16 to compensate for the determined angle of incidence alpha in order to compensate for the offset distance dv and align the tool 18 with the impact point of the line light beam 52 on the building element 12 and therefore with one of the work positions 20.

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

[0093] FIG. 8 illustrates a method 1000 for controlling a construction robot.

[0094] To describe the method 1000, reference is made to FIGS. 1-7 above and the reference numbers introduced therein.

[0095] The method 1000 is also illustrated using the example of drilling a hole in a work location 20 of a building element 12 by a construction robot, for example the construction robot 10 .

[0096] In the start phase 110, the construction robot 10 uses its movable platform 14 to move into the beam path of the line light beam 52 so that the line light beam strikes the line light sensors 24, 26, 28 at impact points AP1, AP2, AP3. The construction robot 10 moves the movable platform 14 until the laser rangefinder 48 detects and recognizes the position marker 58 with its measurement beam 56.

[0097] In phase 120, the movable platform 14 moves along the line light beam 52 until the second coordinate x corresponds to the next work position 20 where work will be performed. The movement of the movable platform 14 is performed while continuously checking the impact points AP1, AP2, AP3 and making corresponding corrective movements, if necessary, so that the line light beam 52 does not deviate away from the sensor line 29.

[0098] As explained in connection with FIG. 7, in phase 130, the construction robot 10 determines the offset distance dv and the required angle of incidence alpha.

[0099] Thereafter, in phase 140, the construction robot 10 pivots its lifting device 16 in accordance with the determined angle of incidence alpha in order to align the tool 18 with the next work position 20 to be machined, as described in relation to 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. Thus, in particular, the construction robot 10 moves the tool 18 depending on the distances of the impact points AP1, AP2, and AP3 from the longitudinal axis A.

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

[0101] As soon as the tool 18 reaches this next work location 20 where the work is to be performed, the tool 18 performs the desired construction work in phase 160 .

[0102] According to the example taken here as a basis, in particular, the power tool 17 is activated, so that the tool 18 starts drilling a hole in the working position 20. In the case of drilling, the lifting device 16 is adjusted according to the progress of the drilling.

[0103] Once the tool 18 has drilled the hole to the desired depth, the lifting device 16 is again at least partially retracted to withdraw the tool 18 from the hole.

[0104] The machine tool 17 is then stopped.

[0105] If there are additional work locations 20 at which work is to be performed, the method 1000 may be repeated at reduced intervals, beginning with phase 120, ie, detecting relative positions.

[0106] Once all construction work has been performed at all work locations 20 where work is to be performed, the method 1000 may end. [Explanation of symbols]

[0107] 10 Construction Robots 12 Building Elements 14 Moving Platform 16 Lifting device 17 Power Tools 18 Tools 20 Working position 22 Prism 24 Line Optical Sensor 26 Line optical sensor 28 Line optical sensor 29 Sensor Line 30 Driving Point 32 Height adjustment device 34 Support 36 Fixed lever 38 Lower 40 Upper 42 Operation mode selection switch 44 IMU 46 Control Computer 48 Laser Rangefinder 50 line laser 52 Line Light Beam 54 lines 56 Measurement beam 58 Position Marker 60 Wall 62 goals 110 Starting Phase 120 Phases 130 Phase 140 Phases 150 Phases 160 Phases 1000 ways A longitudinal axis AP1 collision point AP2 collision point AP3 collision point L distance LP Plumb Point M center point N-plane normal V vertical line Alpha Incident Angle dv offset distance x Second coordinate

Claims

1. A method (1000) for controlling a construction robot (10), comprising: the construction robot (10) is controlled to move with a tool (18) arranged on a manipulator of the construction robot (10) to at least one work position (20) on a building element (12); The working position (20) is marked by at least one line light beam (52). A method (1000) for controlling a construction robot (10), comprising: the construction robot (10) moves the manipulator and / or the tool (18) depending on the position of the impact point (AP1, AP2, AP3) of the line light beam (52) on the construction robot (10). Method (1000).

2. 2. The method (1000) of claim 1, characterized in that the positions of the impact points (AP1, AP2, AP3) are determined by at least one line optical sensor (24, 26, 28) or an area optical sensor.

3. 2. The method (1000) according to claim 1, characterized in that at least two positions of two different contact points (AP1, AP2, AP3) of the line light beam (52) are detected on the construction robot (10).

4. Method (1000) according to any one of claims 1 to 3, characterized in that the position of at least one of the collision points (AP1, AP2, AP3) on the manipulator is detected.

5. Method (1000) according to any one of claims 1 to 3, characterized in that furthermore at least one second coordinate (x), for example the distance to said building element (12) and / or to a second building element (12), is measured.

6. 4. The method (1000) of claim 3, characterized in that the manipulator of the construction robot (10) is pivoted depending on the positions of at least two of the contact points (AP1, AP2, AP3).

7. 7. The method (1000) according to claim 3 or 6, characterized in that, depending on the positions of at least two of the contact points (AP1, AP2, AP3), the manipulator is set to tilt relative to a vertical (V) and / or relative to a surface normal (N) of the building element (12) based on the working position (20).

8. a portable platform, e.g., a movable platform (14); a manipulator, e.g., a lifting device (16), capable of and / or for placing a tool (18); at least one optical sensor; Equipped with It is desired that the construction robot (10) determines the position of the impact point (AP1, AP2, AP3) of the line light beam (52) on the construction robot (10) by means of the optical sensor. Construction robot (10).

9. 9. The construction robot (10) according to claim 8, characterized in that the construction robot (10) is configured to determine the positions of at least two different contact points (AP1, AP2, AP3) of the line light beam (52) on the construction robot (10).

10. 10. The construction robot (10) according to claim 8 or 9, characterized in that the construction robot (10) has a total of at least two, in particular three, line light sensors (24, 26, 28) and / or area light sensors.

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