Construction robot having a quick-change interface, component system, and method for positioning the component system on the quick-change interface

Abstract

The present invention relates to a construction robot (10), particularly for a building construction process, comprising a manipulator (18) and a quick-change interface (21) located on the manipulator (18) and designed to removably fit at least one element, in particular a tool (24) and / or a component to be processed, to the manipulator (18). The safety risks when using the construction robot (10) can be minimized using a test device (104) designed to test the quality of the quick-change interface (21).

Description

Technical Field

[0001] The present invention relates to a construction robot, particularly for carrying out building construction work, comprising a manipulator and a switching interface arranged on the manipulator and configured for the detachable arrangement of at least one element, such as a tool and / or a component to be processed.

Background Art

[0002] In order to be able to carry out complex construction tasks, often different tools are required. This is particularly true when the construction task is carried out using a construction robot. For example, in order to place a building element on the ceiling, first, a mark indicating the location where the building element is to be placed and / or the location where holes, for example, have to be drilled for fastening elements for fastening the building element, is applied to the ceiling by a marking tool. Then, these holes can be drilled using a drilling tool. Then, the necessary fastening elements can be fitted using a mounting tool. Finally, the building element can be fastened to the fastening elements using a mounting tool.

[0003] In order to attach different elements, such as tools, to a construction robot and make them usable, the construction robot has a switching interface. The switching interface is configured for the detachable arrangement of at least one element, such as the tool to be used. The element to be attached may have a connecting part complementary to the switching interface.

[0004] Due to the harsh environmental conditions at a construction site, particularly at a building construction site, such a switching interface is often prone to severe wear. Dust, dirt, etc. may also prevent the correct attachment of elements to the switching interface.

[0005] If the element is not properly attached to the switching interface, this poses a specific safety risk. For example, the element may detach unintentionally and cause damage upon falling. In the worst case, this could result in injury. [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] The object of the present invention is therefore to provide means and methods that enable the safe use of different elements by construction robots. [Means for solving the problem]

[0007] This objective is achieved by a construction robot, particularly for carrying out building construction work, comprising a manipulator, a switching interface positioned on the manipulator and configured for the detachable placement of at least one element, in particular a tool and / or component to be processed, and a test apparatus configured for quality testing of the switching interface.

[0008] Quality testing may include, for example, testing for wear, functionality, and / or improper seating of tools placed on the switching interface.

[0009] Therefore, it is possible to monitor the switching interface in terms of safety risks before, during, and after attaching elements, such as tools, to and / or removing them from the switching interface.

[0010] This helps avoid construction robot failures and allows for continuous testing of the tool interface, enabling construction robots to achieve high system availability.

[0011] For example, before installing the element, the switching interface may be checked for dust or dirt. If such a safety risk is found, for example, a warning signal may be given, the safety risk may be eliminated, for example, the dirt may be removed, and / or other measures may be taken to indicate and / or mitigate the safety risk.

[0012] "Tools" may also include, for example, electrical tools such as machines for drilling, cutting, such as saws or angle grinders, grinding, marking, measuring, etc. The tools may be configured in particular for processing rock, such as concrete.

[0013] Furthermore, the switching interface may be configured to allow other types of elements to be attached to it. For example, at least one component to be processed, such as a ceiling element, a wall element, and / or an anchor, may be detachably positioned on the switching interface.

[0014] The switching interface is placed on the manipulator. Depending on the elements placed on the switching interface, different construction tasks can be performed by the manipulator in different positions and / or orientations.

[0015] Such construction robots are particularly advantageous for use in construction work at construction sites.

[0016] While it is possible to create barrier zones at excavation sites to prevent people from entering during construction work, this possibility is often absent or extremely limited at building construction sites. Furthermore, building construction sites often utilize a wider range of different elements, particularly tools, than excavation sites. These elements often need to be changed more frequently. The probability of element failures coupling to switching interfaces, and therefore the need to prevent such safety risks, may be higher at building construction sites than at excavation sites.

[0017] A construction robot may have at least one storage magazine configured to provide at least one element for use by the construction robot, in particular a tool and / or a component to be processed.

[0018] Preferably, the storage magazine may be configured to provide elements for placement on the switching interface. For this purpose, the storage magazine may be positioned on a construction robot so that the switching interface can be brought to elements held in the storage magazine, particularly by a manipulator. Preferably, the storage magazine may have several holding points. The holding points may then hold various tools and / or other elements required for the construction task, particularly components to be processed. In particular, after the use of a tool, a tool that is no longer needed may be placed in one of the holding points of the storage magazine and removed from the switching interface.

[0019] The test apparatus may include an optical test component. The optical test component may include an image acquisition unit, such as a color image camera, a monochrome camera, and / or a 3D camera. The optical test component may be configured to detect optical data from a switching interface. The optical test component may be located on the manipulator of a construction robot and / or on a mobile platform.

[0020] The test apparatus may also include a light source. Therefore, the recording conditions during optical data acquisition may be standardized. This could potentially facilitate the subsequent analysis of the optical data. Furthermore, the light source may be configured to project at least one pattern onto the switching interface. Thus, for example, a strip light image from which depth information can be derived may be acquired.

[0021] Existing image acquisition units can also be used as optical test components. For example, a construction robot may already have an image acquisition unit on its manipulator. Such an image acquisition unit may then function as an optical test component of the test apparatus. In this case, it may be particularly advantageous if a light deflection unit, such as a mirror, is placed on the construction robot. The manipulator can then be positioned so that the image acquisition unit placed on it acquires optical data from a switching interface, particularly one also placed on the manipulator, via the mirror. Such multiple use of the same image acquisition unit may reduce the production cost of the construction robot. It also allows for keeping the mass moved by the manipulator, and therefore the associated inertia, low.

[0022] To analyze optical data, a construction robot may have image processing logic configured to receive optical data, particularly image data, from an optical test component and to identify at least one quality feature of the switching interface from the optical data. The quality feature may correspond to, for example, the absence of sufficient dust, dirt, and / or wear phenomena such as fracture points or wear points. Generally, the quality feature may correspond to sufficient conformity between the optical data and previous and / or standardized optical data of the switching interface. In other words, the quality feature may be configured to indicate whether the switching interface has any deviation from nominal values ​​within a defined framework. The quality feature may here relate to the entire switching interface or simply to a part of the switching interface.

[0023] It is also conceivable that the image processing logic is formed at least partially on a remote computer system, particularly a cloud-based computer system. Then, by collecting optical data from multiple construction robots, the analysis of optical data can be continuously improved.

[0024] The construction robot may also be configured, alternatively or additionally, to identify at least one quality characteristic of the storage magazine. For this purpose, the optical test component may also be configured to detect the optical data of the storage magazine. Accordingly, safety risks of the storage magazine due to dust, dirt, wear, elements accidentally held at the holding points, etc. may also be detectable. Particularly preferably, the same image capture unit as the test component may be provided.

[0025] It is also conceivable that the test device includes a mechanical test component. This enables mechanical tests of the mechanical characteristics of the tool interface, such as force and / or pressure, particularly the maximum holding force, tensile stress, and / or contact pressure, expansion, distance, etc. during use. Such mechanical tests may be performed as an alternative to or in addition to the optical test. Here, it may be particularly advantageous that such tests using the mechanical test component can also test safety risks other than those possible with the optical test.

[0026] In particular, it is conceivable that the mechanical test component is configured to generate mechanical resistance such that the element held in the storage magazine can only be removed against the resistance. The resistance may correspond to the minimum required holding force. Preferably, the resistance may exceed the gravitational force of the element held in the storage magazine.

[0027] When different types of elements are held in the storage magazine, the resistance may be greater than the maximum gravitational force of all types of elements to be held. The resistance may particularly be at least twice the gravitational force.

[0028] This ensures that the element can only be removed from the storage magazine if the resistance is compensated or overcompensated. The removal is performed such that the element is coupled to the switching interface and then, if the switching interface is moved away from the storage magazine, for example by a manipulator, it can be ensured that the element is at least arranged on the switching interface by at least the maximum holding force corresponding to the resistance.

[0029] Thus, a sufficiently firm seating of the element on the switching interface can be directly tested by a mechanical test component. Correct seating may be ensured especially before an element, for example a tool, is used for performing a construction task.

[0030] The mechanical test component may be formed by part of the storage magazine, part of the manipulator, and / or part of the moving platform.

[0031] The resistance may be generated magnetically. For this purpose, the test component may have a magnet. For example, the magnet may be arranged at a holding point of the storage magazine. The element may have a magnetizable region. While the element is held at the holding point, the magnetizable region may thus be attracted to the magnet by a magnetic force corresponding to the resistance. To remove the element from the holding point, the magnetic force, thus the resistance, and possibly the gravitational force of the element must then be overcome.

[0032] As an alternative or in addition, it is also conceivable that the test component has a latching mechanism. The latching mechanism may be configured to be latched by applying a minimum release force. In that case, the minimum release force may form the above-mentioned resistance.

[0033] Here, it is preferable that the mechanical test component does not require any further electrical components, and in particular, does not require any additional sensors, power supplies, or data lines for its supply. The switching interface can be tested automatically, especially easily, during the successful removal of the element.

[0034] As an alternative to or in addition to at least one of the test components described above, the test apparatus may include an electrical test component. In particular, the electrical test component may be configured to detect the electrical quality characteristics of a switching interface. If the switching interface is configured, for example, for the transmission of electrical energy and / or data, the electrical test component may be configured to test the flow of current through the electrical lines that function for transmission. Electrical resistance and the like may also be testable as quality characteristics.

[0035] Such electrical tests can also be easily repeated. For example, such electrical tests can continuously monitor whether elements placed on the switching interface are correctly electrically connected to the switching interface, especially during the execution of construction tasks. This may then indicate whether the entire element is properly seated on the switching interface.

[0036] The present invention further relates to a component system comprising elements, in particular tools and / or components, wherein the elements have connecting portions configured for detachable connection to a switching interface of the construction robot of the type described above. Such a component system can be detachably placed on the switching interface, for example, after testing the switching interface. For the possibility of testing, safety risks such as accidental detachment of elements from the switching interface can be reduced or avoided.

[0037] A component system and / or construction robot may have a joint testing apparatus configured for quality testing of joints. Preferably, the joint testing apparatus comprises optical, electrical, and / or mechanical testing components, particularly one of the types described above.

[0038] The scope of application of the present invention further includes construction robots comprising a component system and a connection test device configured for quality testing of connection parts.

[0039] A connection test device can be used to test the quality characteristics of connection points. Depending on the identified quality characteristics, corrective actions may be triggered as needed. This also helps to reduce safety risks during the use of elements in construction robots.

[0040] The connection part test device may be located at least partially on the manipulator, on the moving platform, and / or on the storage magazine. The connection part test device corresponds to the test device and may be at least a part of the test device, and / or a part of the test device.

[0041] The present invention also relates to a method for arranging elements, in particular tools and / or components, on a switching interface of the type of construction robot described above. This method includes at least, a) A step of testing the quality characteristics of the component system and / or switching interface using a connection part test device and / or test device, b) The step of placing the component system on the switching interface, and

[0042] Quality characteristics may include, for example, the degree of wear, dirt, dust, and / or the presence or absence of elements.

[0043] Tests may be performed before, during, and / or after deployment. In particular, multiple tests are possible. Depending on the test results, corrective measures can be taken thereafter. For example, if improper installation of an element to the switching interface is detected, installation attempts may be repeated as many times as necessary to ensure the element is properly installed. Thus, safety risks can be reduced here as well.

[0044] This method can provide that at least one test is performed using mechanical test components and at least one test is performed using optical test components, thereby enabling the identification of different types of safety risks and / or similar safety risks with a high degree of probability, and subsequently mitigation. For example, the degree of wear of the tool interface can be optically tested first, and then the seating of elements held on the tool interface can be mechanically tested.

[0045] Alternatively, the test could be performed by an optical test component, and the switching interface could be moved to at least two different positions relative to the optical test component. This could facilitate the subsequent analysis of the captured optical data by making it easier to distinguish between foreground and background data. In general, this may aid in the analysis of the optical data.

[0046] The method may also include the quality characteristics of the stored magazine being, for example, an indication of the wear, abrasion, and / or presence of tools and / or components.

[0047] In particular, it is conceivable that the switching interface, component system, and / or storage magazine be tested using a single, identical image acquisition unit.

[0048] Construction robots may be designed to perform construction work on a construction site. They may be installed to perform construction work on ceilings, walls, and / or floors. They may be configured for marking, drilling, cutting, chiseling, grinding, and / or fitting building elements, and in particular, corresponding tools may be detachably mounted on them.

[0049] The construction robot has a manipulator. The construction robot may have a mobile platform. The manipulator may be placed on the mobile platform.

[0050] The manipulator may be formed as a robotic arm. The manipulator may also have a lifting device. The lifting device may increase the overall volume that the manipulator can reach. The manipulator may have at least 3 degrees of freedom. In particular, it may have at least 6 degrees of freedom.

[0051] The mobile platform may include a wheeled chassis and / or a track chain chassis. The mobile platform may have at least 2 degrees of freedom. The construction robot may have at least 10 degrees of freedom in total.

[0052] The image processing logic may be configured as a computer unit and / or as part of a computer unit. The computer unit may have a processor, a memory unit, and / or program code that may be executed by the processor. The processor may have one or more subprocessors. The program code may be configured to implement the described method on a construction robot.

[0053] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the invention and from the claims, with reference to the drawings illustrating essential details of the invention. The features shown herein do not necessarily need to be considered to scale, and are illustrated in a manner that clearly visualizes the specific features of the present invention. Various features can be implemented individually or collectively in any combination in modifications of the invention.

[0054] Exemplary embodiments of the present invention are illustrated in the schematic drawings and described in detail in the following description. [Brief explanation of the drawing]

[0055] [Figure 1] A perspective view of a construction robot is shown. [Figure 2] A side view of a manipulator with a switching interface is shown, which allows the tool to be removed from the storage magazine containing the mechanical test component. [Figure 3] A side view of a manipulator with a switching interface is shown, which allows the tool to be removed from the storage magazine containing the mechanical test component. [Figure 4] A plan view of the connection points and switching interface showing signs of wear is shown. [Figure 5] A plan view of the connection points and switching interface showing signs of wear is shown. [Figure 6] The manipulator, switching interface, storage magazine, and test equipment are shown in a perspective view. [Figure 7] The manipulator, switching interface, storage magazine, and test equipment are shown in a perspective view. [Figure 8] I will show you the method. [Modes for carrying out the invention]

[0056] In the following description of the drawings, the understanding of the present invention will be facilitated by using the same reference numerals for identical or functionally corresponding elements in all cases.

[0057] Figure 1 shows a construction robot 10 having a chassis 12 designed as a track chain chassis, a control space 16 formed within a housing 14, and a manipulator 18 positioned on top of the housing 14. The manipulator includes a lifting device 17 for vertical displacement and a multi-axis controllable arm 19.

[0058] An end effector 20 having a switching interface 21 is located at the free end of the arm 19.

[0059] The tool 24, in particular the rock drill tool having a dust collector 26, is positioned on the switching interface 21.

[0060] The tool 24 has a connecting portion 22 so that it can be detachably positioned on the switching interface 21. The switching interface 21 is configured for the connecting portion 22 and, therefore for the detachable connection of the tool 24.

[0061] The manipulator 10 may include further devices, such as a prism, a paint sprayer, a rangefinder, position and / or orientation determination logic, a camera and / or similar devices, but these are not shown in Figure 1 for the sake of simplification.

[0062] The construction robot 10 is designed to perform construction tasks, such as drilling holes in ceilings and walls, at construction sites, particularly building construction sites.

[0063] The construction robot 10 further includes a storage magazine 100. The storage magazine 100 has a plurality of deposit sites 102. Elements such as tools, e.g., tool 24, and / or components necessary for the construction task to be performed may be stored in the deposit sites 102.

[0064] In addition to the manipulator 18 for performing construction tasks assigned to the construction robot 10, the construction robot 10 has a computer unit 27 located within the control space 16, particularly inside the housing 14. The computer unit 27 includes a memory unit 28.

[0065] The computer unit 27 contains executable program code. The program code may be stored in the memory unit 28 in a retrieval and executable manner. In particular, the manipulator 18 may be configured to control one of the elements of the storage magazine 100 to be removed from and / or placed on one of the deposit sites 102 of the storage magazine 100.

[0066] Furthermore, the construction robot 10 has a test device 104, particularly on the storage magazine 100. The test device 104 is configured for quality testing of the switching interface 21. For this purpose, it has an optical test component 106. The optical test component 106 comprises an image acquisition unit in the form of a color image camera. It may be oriented, for example, vertically upward, so that it can capture images of the switching interface 21 when the end effector 20 reaches a position above the optical test component 106. An image processing logic 108, which is configured to compare one or more images with a nominal depiction of the switching interface and from there identify possible defects such as wear and tear, dust, etc., is implemented in the computer unit 27, particularly by program code. The image processing logic 108 is part of the test device 104.

[0067] Figures 2-7, described below, show components of alternative embodiments. Unless otherwise stated, these components may be used on the construction robot 10 described above as substitutes for their corresponding components. In particular, it is conceivable to use different types of alternative components, described below, in combination with the construction robot 10.

[0068] Figures 2 and 3 show schematic diagrams of a storage magazine 100 having a deposit site 102.

[0069] The elements, particularly tool 24, are placed at the deposit site 102.

[0070] The tool 24 has a connection portion 22 for a detachable connection to a switching interface 21 located on the end effector 20 of the manipulator 18. The connection portion 22 has a magnetizable plate made of, for example, magnetizable steel.

[0071] The elements, namely the tool 24 and the connecting portion 22, form a component system 50.

[0072] The mechanical test component 106a is placed on the storage magazine 100. The mechanical test component 106a has a magnet 107. The magnet 107 generates a resistive force FW, which is directed downward as shown in Figures 2 and 3, and complements the gravitational force FG to hold the tool 24 at the deposit site 102. To lift the tool 24, the manipulator 18 must therefore apply a release force FL that is at least equivalent to the sum of the resistive force FW and the gravitational force FG, and that opposes the result of these two forces FW and FG. The switching interface 21 is configured to transmit at least the required release force when the element, i.e., the tool 24, is correctly positioned on the switching interface 21, thereby allowing the tool to be successfully removed from the deposit site 102 when properly positioned.

[0073] When the end effector 20 is moved vertically upward and at least a release force FL is generated there, the tool 24 or part system 50 can be removed, and therefore from the deposit site 102.

[0074] Figure 3 shows a situation corresponding to Figure 2, but with the difference that the switching interface 21 is contaminated with dust 110. The tool 24 is therefore unable to properly connect to the switching interface 21 via the connecting part 22. In particular, the required release force FL can no longer be transmitted to the connecting part 22 via the switching interface 21.

[0075] When the end effector 20 is moved vertically upward, the connection portion 22 is disengaged from the tool interface 21. The tool 24 or the parts system 50 cannot therefore be removed from the deposit site 102.

[0076] The tool 24, therefore, remains at the deposit site 102, thereby further reducing or even avoiding safety risks due to accidental detachment of the connection portion 22 from the switching interface 21 during the execution of a construction task, for example.

[0077] Figures 4 and 5 show plan views of the connection portion 22 (Figure 4) and the switching interface 21 (Figure 5), both of which show signs of wear. For clarity, the areas affected by wear in Figures 4 and 5 are highlighted with ellipses.

[0078] Such wear can be identified by the optical test component, and exemplary embodiments thereof are described in more detail below.

[0079] Figure 6 shows a manipulator 18 having an end effector 20 on which a switching interface 21 is also formed. The test device 104 is placed on a storage magazine 100 having multiple deposit sites 102.

[0080] The test apparatus 104 has an optical test component 106. The optical test component 106 includes, among other things, a color image camera.

[0081] Figure 6 schematically shows the field of view 112 of the optical test component 106. At the position of the manipulator 18 shown in Figure 6, the optical test component 106 may therefore capture images from the switching interface 21. These may be analyzed in the image processing logic of the test apparatus 104 so that any safety risks can be identified, for example, as described above.

[0082] Figure 7 shows a further manipulator 18 having an end effector 20 on which not only the switching interface 21 but also a further optical test component 106 which may correspond to the optical test component 106 described above in Figure 6 is positioned.

[0083] The optical test component 106 is equipped with a color image camera.

[0084] At the position of the manipulator 18 shown in Figure 7, the field of view 112 of the optical test component 106 includes the connection portion 22 of the tool 24 located at the deposit site 102.

[0085] The connection portion test apparatus 114 is formed by an optical test component 106 together with a computer unit 27 (see Figure 1). For this purpose, the computer unit 27 is configured to analyze the images provided by the optical test component 106 with respect to the deviation of the connection portion 22 from the nominal connection portion, thereby identifying any safety risks in the connection of the connection portion 22 to the switching interface 21.

[0086] The tool 24 and its connecting portion 22 ultimately form the component system 50.

[0087] Figure 8 shows a method 1000 for arranging a component system on the switching interface of the type of construction robot described above.

[0088] Method 1000 will be described in more detail using the reference numerals introduced above for the components of the construction robot 10. For example, the construction robot 10 that forms the basis of the description includes a test device 102 having a mechanical test component 106a as shown in Figures 2 and 3, and a connection part test device 114 having an optical test component 106 as shown in Figure 7.

[0089] In the first method step 1010, the connecting portion 22 of the tool 24, and therefore the connecting portion 22 of the component system 50, are also tested for deviation from the nominal value. In particular, the connecting portion 22 is tested for quality characteristics related to the presence of dirt, such as dust. If a defect is found, a defect correction 1040 is performed.

[0090] Firstly, in coupling stage 1020, the switching interface 21 is moved by the manipulator 18 to the connection portion 22 of the component system 50. The switching interface 21 is coupled to the connection portion 22 and thus positioned on the component system 50, in particular on the tool 24.

[0091] In the subsequent test stage 1030, it is tested whether the tool 24 is properly coupled. For this purpose, the manipulator 18, and therefore the switching interface 21, is moved away from the storage magazine 100. During this process, the release force FL is determined.

[0092] If the release force FL is less than the minimum release force expected depending on the resistance force FW and the type of tool, this indicates an incorrect connection of the connection part 22 or the tool 24 to the switching interface 21. In this case as well, the bug fix 1040 is performed.

[0093] The malfunction correction 1040 may consist of multiple steps. In particular, it may include a first malfunction correction in which a cleaning device, such as a brush roller, attempts to clean the switching interface 21 or the connection portion 22 first.

[0094] If the subsequent test fails again, a second fault handling procedure may be provided, during which a signal is sent to the user of the construction robot 10 to manually correct the fault.

[0095] For example, for documentation purposes, at least one of the test results may be stored in memory and / or transmitted to a further computer unit, such as a cloud-based computer unit, for storage and / or further processing.

[0096] Further testing may be conducted. For example, an electrical resistance test may be performed to check whether one or more electrical connections between the switching interface 21 and the connection portion 22 are properly constructed.

[0097] If the two tests in stages 1020 and 1030 are successful, in performance stage 1050, the desired construction task is performed by the tool 24 located on the tool interface 20.

[0098] For example, one or more holes may be drilled by a tool 24 configured as a rock drill machine tool.

Claims

1. A construction robot (10), in particular a construction robot for performing building construction work, - Manipulator (18), - A switching interface (21) is positioned on the manipulator (18) and configured to detachably position at least one element, in particular a tool (24) and / or a component to be processed, on the manipulator (18), - A test device (104) configured for quality testing of the switching interface (21) and / or the connection part test device, Equipped with, The test apparatus (104) is equipped with an optical test component (106), The construction robot (10) has image processing logic configured to receive optical data, particularly image data, from the optical test component (106) and to identify at least one quality feature of the switching interface (21) from the optical data.

2. The construction robot (10) has at least one storage magazine (100) configured to provide at least one element, in particular a tool (24) and / or a component to be processed, for use by the construction robot (10), and preferably the storage magazine (100) is configured to provide the element for placement on the switching interface (21), as described in claim 1.

3. The construction robot according to claim 2, characterized in that the test device (104) comprises a mechanical test component (106a).

4. The construction robot according to claim 3, characterized in that the mechanical test component (106a) is configured to generate a resistance force (FW) such that the element held in the storage magazine (100) can be removed only by the force of the mechanical resistance (FW).

5. The construction robot according to claim 1 or 2, characterized in that the test device (104) comprises an electrical test component.

6. A component system (50), - Elements, particularly tools (24) and / or components having a connecting portion (22) configured for detachable connection to the switching interface (21) of the construction robot (10) according to claim 1 or 2, A component system (50) comprising the above.

7. A method (1000) for arranging the component system (50) described in claim 6 in a switching interface (21) of a construction robot (10) described in claim 1 or 2, wherein at least, a) A step of testing the quality characteristics of the component system (50) and / or the switching interface (21) using the connection part test device (114) and / or the test device (106), b) The step of placing the component system (50) on the switching interface (21), A method including (1000).

8. The method according to claim 7, wherein at least one test is performed by the mechanical test component (106a) and at least one test is performed by the optical test component (106).

9. The method according to claim 7, characterized in that the test is performed by the optical test component (106), and the switching interface (21) is moved to at least two different positions relative to the optical test component (106).

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