Work robot system

Abstract

The invention relates to a work robot system (10) comprising a machining unit (12) which has a tool unit (14), in particular a drilling unit (24), for machining an object (30) and comprising a control unit (18) at least for actuating the machining unit (12). According to the invention, the control unit (18) is designed to modify at least one machining parameter of the machining unit (12) on the basis of at least one machining process value which arises during the machining process.

Description

[0001] Description

[0002] Work robot system

[0003] State of the art

[0004] A drilling robot is already known which performs machining of an object depending on operator inputs and / or a position in a work environment.

[0005] Disclosure of the invention

[0006] The invention is based on a work robot system with a processing unit which has a tool unit, in particular a drilling unit, for processing an object, and with a control unit at least for controlling the processing unit.

[0007] It is proposed that the control unit is provided to change at least one processing parameter of the processing unit based on at least one processing process value occurring during processing.

[0008] The inventive design of the work robot system advantageously improves the processing of an object by a work robot. In particular, the processing can be adapted particularly advantageously to local and / or global conditions of the object to be processed and / or to a state of the processing unit during processing. As a result, in particular, the precision and / or efficiency and / or safety of the work robot system and / or the work robot can be increased. Furthermore, the processing parameters for processing to create a single borehole and for creating a sequence of boreholes can be particularly advantageously optimized. Advantageously, the process performance and quality of the processed product, in particular of the borehole, for example with regard to a borehole depth and / or a borehole direction, can be improved.Furthermore, the working robot system can demonstrate particularly advantageous behavior in critical situations, such as reinforcement hits and / or drill jams.

[0009] The work robot system preferably comprises the work robot at least partially. The work robot in particular comprises the processing unit. In addition to the work robot, the work robot system may comprise further elements and / or units, in particular those formed separately from the work robot. Alternatively, the work robot system may be at least part of a work robot. Advantageously, the work robot system is designed in particular as the work robot.

[0010] The work robot is preferably designed as a processing robot, in particular as a construction site robot for use on a construction site. The work robot system is preferably designed as a processing robot system, in particular as a construction site robot system. Particularly preferably, the work robot is designed as a drilling robot, and in particular the work robot system is designed as a drilling robot system. Alternatively, however, it is also conceivable for the work robot to be designed as a construction site robot different from a drilling robot, for example as a sawing robot, as a grinding robot, as a robot for driving in holders or the like, as a combination of these, or as another work robot that appears appropriate to a person skilled in the art.The work robot preferably has sufficient degrees of freedom for free positioning and / or orienting the tool unit, in particular in the work environment and / or relative to the object. The work robot is preferably designed differently from a stationary work robot. The work robot is preferably designed differently from a robot permanently installed at a position, in particular differently from an industrial robot. The work robot is preferably intended to move independently and in particular autonomously. Alternatively or additionally, the work robot can be designed to be passively movable. The work robot is preferably designed as a mobile work robot. The work robot is preferably designed to be mobile. Alternatively, however, it is also conceivable for the work robot to be designed as a drone.Alternatively, the work robot can be permanently installed at a specific location and, in particular, can be designed as an industrial robot. The work robot can be designed as a stationary work robot.

[0011] The work robot is in particular designed to be at least partially automatic. The work robot is in particular intended for at least partially automatic processing of the object to be processed. Preferably, the work robot is intended for at least partially automatic creation of drill holes in the object. The work robot is preferably intended for autonomous processing of the object, in particular for autonomous creation of drill holes in the object. The work robot is in particular intended to at least process the object according to a processing plan. Alternatively or additionally, it would be conceivable for the work robot to be controlled at least partially by means of a remote control, for example by a user. Preferably, the work robot is intended for fully automatic processing of the object to be processed.Preferably, the object is a building component, for example, a wall, a floor, a facade, or the like. Particularly preferably, the object is a ceiling. In particular, the object can be designed as a concrete ceiling or a stone ceiling or the like. Alternatively, however, it is also conceivable for the object to be different from a building component, for example, a particularly fixed, preferably stationary, piece of furniture or the like.

[0012] The work robot and / or the work robot system preferably has / have a manipulator unit. The manipulator unit is preferably provided for moving and / or aligning and / or supporting and / or handling and / or manipulating the tool unit. The manipulator unit is preferably provided for at least partially providing a processing force, in particular of the processing unit, for the processing. The manipulator unit is preferably provided for providing a feed force, in particular on the tool unit, for the processing. The manipulator unit is preferably designed as a robot arm and has, in particular, one to seven axes. For example, the manipulator unit can have six axes. The manipulator unit preferably has more than one degree of freedom for moving the tool unit, in particular relative to a movement unit mentioned below.Alternatively, it is conceivable for the manipulator unit to have only one degree of freedom for moving the tool unit, in particular in a feed direction specified below. The machining unit preferably comprises the manipulator unit. Alternatively, it would be conceivable for the machining unit to have only the tool unit.

[0013] The tool unit can in particular be designed as an end effector. In at least one operating state of the working robot, the tool unit is preferably arranged on the manipulator unit, in particular at a free end of the manipulator unit. The tool unit preferably has a tool and / or a handheld power tool, which can in particular be fastened to the manipulator unit. The tool is particularly preferably designed as a drill or hammer drill. Alternatively, however, it is also conceivable for the tool to be designed as a squeegee, a grinding wheel, a saw blade, a hammer, or another tool that appears appropriate to a person skilled in the art. The handheld power tool is preferably designed as a drill and particularly preferably as a hammer drill. The handheld power tool can be designed as a commercially available handheld power tool.The handheld power tool can be battery-operated and / or corded. Alternatively, it is also conceivable for the handheld power tool to be specifically designed to interact with the processing unit, and in particular with the manipulator 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 deemed appropriate by a person skilled in the art. It is conceivable for the tool unit to have a tool holder for holding the tool, the handheld power tool, or the like.

[0014] The work robot and / or the work robot system preferably has / have a movement unit for moving the processing unit, in particular with respect to a work environment. The movement unit is preferably provided for generating a movement force. The processing unit, in particular the manipulator unit, is preferably arranged on, preferably on the movement unit. The tool unit is at least mechanically connected to the movement unit, at least in the operating state, preferably via the manipulator unit. The movement unit is particularly provided for moving the processing unit on a surface, for example a floor, a wall and / or a ceiling. The movement unit is preferably provided for moving the work robot as a whole over the surface. The movement unit particularly has a chassis.The locomotion unit, in particular the chassis, comprises, for example, a chain unit, a roller unit, a wheel unit, a propeller unit, a turbine unit, or other means of locomotion deemed appropriate by a person skilled in the art, or a combination thereof. The locomotion unit is preferably designed to move at least partially autonomously and / or remotely. Alternatively, it is conceivable for the work robot and, in particular, the work robot system to be designed independently of the locomotion unit, particularly in the design of the work robot as an industrial robot.

[0015] The work robot preferably has the control unit at least partially. Preferably, the work robot has the complete control unit. Alternatively, it is conceivable for the control unit to be arranged and / or configured at least partially outside the work robot and, in particular, to be wired and / or wirelessly connectable and / or connected to the work robot, in particular at least to the processing unit, at least for data purposes. It would be conceivable for the control unit to be arranged and / or configured entirely outside the work robot.For example, it would be conceivable for at least part of the control unit to be arranged and / or configured separately from the work robot in a separate, for example portable, operating unit for operating the work robot and / or in a cloud, which is connected to the work robot, for example, via an internet connection and / or in another form that appears appropriate to a person skilled in the art. The control unit can be configured at least partially in the tool unit and / or in a controller of the tool unit, for example at the firmware level of the tool unit. Alternatively or additionally, the control unit can be configured at least partially in a controller of the manipulator unit, in particular a robot controller. Alternatively or additionally, the control unit can be configured at least partially in a higher-level control module, in particular one specifically provided for this purpose, in particular a process computer.The part of the control unit of the tool unit and / or the manipulator unit can communicate with the higher-level control module for the change, for example via a fieldbus and / or a network connection. For example, the part of the control unit of the tool unit and / or the manipulator unit can be provided to transmit at least one piece of information, at least regarding the machining process value, to the higher-level control module. The control module can be provided to control the machining unit based on the transmitted information. The control module can additionally be provided to control a remainder of the work robot in addition to the machining unit, in particular based on the transmitted information.

[0016] A "control unit" is understood to mean, in particular, a unit with at least one control electronics unit. A "control electronics unit" is understood to mean, in particular, a unit with a processor unit and a memory unit, as well as an operating program stored in the memory unit.

[0017] The processing parameter of the processing unit is preferably a parameter, in particular set and / or controlled by the control unit, for operating the processing unit for the processing. The processing parameter is and / or characterizes in particular a set and / or controlled physical variable of the processing unit for carrying out the processing. The control unit is in particular provided for regulating the processing. The processing unit is in particular provided to carry out the processing based on the processing parameter. Preferably, the control unit is provided to change at least one additional processing parameter of the processing unit in addition to changing the processing parameter of the processing unit. The control unit is preferably provided to change the processing parameter and the additional processing parameter simultaneously.Alternatively, the respective changes can occur at different times. The processing parameter and the additional processing parameter are and / or characterize, in particular, different set and / or controlled physical variables of the processing unit.

[0018] The control unit is particularly designed to modify the machining parameter and / or the additional machining parameter based on at least the machining process value occurring during machining in a process state of the machining and / or at least one additional machining process value occurring during machining, in particular in the same process state. The machining process value and the additional machining process value are and / or characterize, in particular, different physical quantities of the machining unit present during machining, in particular during the process state.The control unit is preferably provided to change at least two processing parameters based on a plurality of processing process values ​​occurring during processing, in particular in the process state, wherein the plurality of processing process values ​​comprises, for example, at least two processing process values, preferably at least three processing process values, and preferably at least four processing process values. Advantageously, the processing can be monitored and / or recorded particularly precisely. The processing in particular has a plurality of successive process states, which in particular can each be assigned to a changed processing parameter and in particular each exist until the completion of a respective change in the processing parameter. A respective process state can in particular be assigned to an individual run of a real-time loop of the control.

[0019] The processing process value occurring during processing is and / or characterizes, in particular, a physical quantity of the processing unit that is actually present during processing. In particular, the processing process value depends not only on the set and / or controlled processing parameters, but also on real conditions, in particular the conditions of the object to be processed and / or a state of the processing unit. The processing process value is, in particular, embodied as an actual processing value.

[0020] The fact that a value or a parameter characterizes a quantity or another value should be understood in particular to mean that the value or the parameter determines the quantity or the further value, in particular unambiguously, and / or that the quantity or the further value, in particular unambiguously, can be determined and in particular calculated from and / or at least based on the value or the parameter. “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 executes this specific function in at least one application and / or operating state.

[0021] It is further proposed that the work robot system have a sensor unit for measuring the machining process value or a characteristic value characterizing the machining process value. This allows the machining process value actually present in the process state to be advantageously determined, which in particular makes it possible to particularly efficiently improve the control of the machining unit. Preferably, the control unit and / or the sensor unit is / are provided for determining the machining process value based on the characteristic value. The work robot preferably has the sensor unit. The sensor unit is preferably arranged on the machining unit, in particular on the tool unit and / or the manipulator unit.Alternatively, it would be conceivable for the sensor unit for determining the machining process value of the machining unit to be arranged and / or configured at least partially outside the work robot, in particular outside the machining unit. In particular, the sensor unit has at least one sensor for measuring the machining process value and / or the characteristic value. Preferably, the sensor unit has at least one additional sensor for measuring the additional machining process value or an additional characteristic value characterizing the additional machining process value. Alternatively, it would be conceivable for the machining process value and / or the at least one additional machining process value to be determined solely by the control unit.The sensor unit is preferably provided to measure the machining process value and / or the characteristic value and the additional machining process value and / or the additional characteristic value at least in sections at the same time and / or to initiate the measurements at least simultaneously.

[0022] The "sensor unit" can be used to measure the machining process value or the characteristic value for active recording, in particular by generating and transmitting an electrical measurement signal, and / or for passive recording, in particular by detecting changes in the properties of a sensor component. Various sensor units are conceivable that would be deemed appropriate by a person skilled in the art. The sensor unit can measure the machining process value directly or determine it indirectly from the process behavior.

[0023] It is further proposed that the control unit be provided for real-time modification of the machining parameter based on the machining process value of an individual machining process. Advantageously, the machining parameter can be adapted particularly quickly and individually. In particular, each individual machining process in an overall machining operation can be individually adapted in the work environment, in particular of the object, in particular to the local conditions, for example to reinforcements and / or pebble nests and / or to local humidity, of the object to be machined and / or short-term conditions of the machining unit, for example a jammed tool. Advantageously, the flexibility and / or response time of the machining change can be increased, whereby in particular the efficiency and / or reliability of the machining can be increased.Preferably, the control unit is provided for carrying out a real-time control of the processing parameter for the real-time change.

[0024] The individual machining process is, in particular, a process for machining a local area of ​​the object. The individual machining process is preferably provided for producing an individual machining product on and / or in the object, in particular a single drill hole in the object. Preferably, at least the movement unit is arranged in a fixed position relative to the object in the individual machining process. Furthermore, the manipulator unit can be arranged in a fixed position relative to the object in at least one and preferably in at least two directions, in particular along a surface of the object, in the individual machining process. Preferably, the work robot is provided for producing a plurality of machining products in the work environment, in particular on and / or in the object.The work robot is preferably provided for creating a plurality of drill holes in the object, in particular according to the processing plan. The work robot is provided for the overall processing of the object, in particular for executing a plurality of individual processing processes. The individual processing process preferably has a plurality of successive process states. In particular, the control unit is provided for a respective real-time change of the processing parameter based on at least the processing process value of at least one respective process state of the individual processing process. The control unit is preferably provided for changing the processing parameter in the individual processing process multiple times, in particular continuously and / or periodically, based on the respectively present processing process values ​​of the individual processing process.Preferably, the sensor unit is designed to measure the machining process value and / or the characteristic value continuously and / or at least periodically during the individual machining process. Alternatively, it would be conceivable for the individual machining process to have only one process state.

[0025] It is also proposed that the control unit be configured to perform a long-term change in the machining parameter based on the machining process value of an individual machining process and on at least one further machining process value of at least one further individual machining process. In particular, the machining can be adapted to global conditions, such as hardness and / or the like, of the object to be machined and / or to long-term conditions of the machining unit, such as wear of the machining unit.Advantageously, the control unit can estimate the existing machining conditions more precisely and adapt the change in a respective subsequent individual machining process, which in particular takes place at least after the individual machining process and the further individual machining process, to expected conditions present in the subsequent individual machining process even before the subsequent individual machining process is executed. Advantageously, the control unit can react particularly efficiently and / or reliably to higher-level conditions that exist for several individual machining processes, whereby in particular the reliability of the machining can be further increased. Preferably, the long-term change is based on more than one further machining process value, whereby in particular the reliability and / or precision of the estimated and / or expected machining conditions can be improved.

[0026] For the long-term change, the control unit is preferably provided for a comparison and / or a calculation based on the machining process value and the further machining process value. It is further proposed that the long-term change be based on a statistical property of the machining process value and of the, in particular, at least one, further machining process value, whereby the machining process value and the further machining process value can be particularly advantageously evaluated to produce at least one piece of information which can be used for the long-term change and in particular for improving the at least one subsequent individual machining process. Preferably, the control unit is provided for determining the statistical property. The long-term change can be based on more than one statistical property of the machining process value and the further machining process value.The statistical property can have at least one position parameter and / or one dispersion parameter. The statistical property preferably has or is configured as at least one, in particular a moving, median value. The median value can, for example, comprise the last five machining process values, in particular with respect to a drilling progress, for example, in order to determine a wear condition mentioned below.

[0027] The control unit is preferably provided to compare the statistical property with data from a database characteristic map. The database characteristic map is preferably stored in the control unit. The database characteristic map preferably has empirically determined entries and in particular at least one piece of comparison information assigned to a respective entry, which preferably influences and / or determines the long-term change. The control unit is preferably provided to determine an entry in the database characteristic map that can be assigned to the statistical property and which, in particular, has the smallest possible deviation from the statistical property compared to the other entries. The control unit is preferably provided for the long-term change based on the comparison information assigned to the assigned entry.

[0028] Additionally or alternatively, it is proposed that the long-term change be based on a forecast model that depends on the machining process value and the further machining process value. This can advantageously increase the flexibility of the control unit, in particular by allowing any machining process values, for example also for measured properties outside the data map, to be advantageously processed and, in particular, interpreted for the long-term change. The forecast model is preferably dependent on additional values ​​and / or parameters, for example, further measured values ​​and / or operator inputs, in addition to the machining process value and the further machining process value, whereby the forecast model can determine and, in particular, forecast the existing machining conditions particularly precisely.The control unit is preferably designed to define and / or select the forecast model based at least on the machining process value and the further machining process value. The control unit is preferably designed to determine a forecast result of the forecast model, which in particular includes information about a determined optimal change in the machining parameter. The control unit is preferably designed to determine the long-term change based on the forecast result. The forecast model can be dependent on the statistical property.

[0029] Preferably, the control unit is provided for the long-term change based on the forecast result of the forecast model and the comparison information of the database characteristic map, wherein, for example, an evaluation module, in particular a mixer, of the control unit is provided to combine the comparison information and the forecast result for the change into one piece of information, in particular into a signal.

[0030] It is also proposed that the control unit be configured to change the machining parameter based on the real-time change and the long-term change. The advantages of both real-time change and long-term change can be advantageously provided. In particular, multi-stage process control can be achieved, allowing the control unit to individually and particularly efficiently adapt the machining parameter to the process conditions. The real-time change preferably has a higher repetition rate during machining than the long-term change.In particular, each change in the machining parameter for the machining operation can be based on the real-time change, wherein the change in the machining parameter can be based on the long-term change only at intervals, in particular a maximum of once within an individual machining process and advantageously only after a plurality of individual machining processes. Preferably, the control unit is provided to carry out the long-term change and / or the real-time change only within a permitted limit interval of the machining parameter. The control unit is preferably provided to change the machining parameter only to a value above a minimum limit and / or below a maximum limit. Preferably, the control unit stores the minimum and / or maximum limit of the machining parameter, wherein the respective limit could be adjustable by the operator.

[0031] Alternatively, it would be conceivable that the control unit is designed to change the processing parameter based only on the real-time change or only on the long-term change.

[0032] It is further proposed that the control unit be provided to change the processing parameter based on at least one predefined parameter. This allows the change to be improved particularly advantageously, in particular in a particularly simple and / or reliable manner. The predefined parameter can, for example, be stored in the control unit and / or be available in a determinable manner, for example as a device-internal variable. Preferably, the predefined parameter is adjustable and / or process-specific. In particular, the predefined parameter is determined before processing and, in particular, stored in the control unit.A physical quantity described by the predefined parameter is at least substantially constant, in particular during processing and / or in the object to be processed, wherein a deviation of the predefined parameter from an average predefined parameter is in particular less than 25%, preferably less than 10%, and particularly preferably less than 5% of the average predefined parameter. The predefined parameter is preferably adjustable by the user and / or by another unit, for example by a separate sensor unit, and / or the processing plan. The predefined parameter can have predetermined dimensions of the processed product, in particular a borehole depth and / or a borehole diameter and / or a borehole type and / or a borehole direction, for example with regard to a blind or through hole, and / or a borehole shape.Alternatively or additionally, the preset parameter can include global conditions of the object to be processed, such as concrete moisture content, which can be measured by the separate sensor unit, particularly prior to processing, and transmitted to the control unit by the operator or automatically. The forecast model is preferably dependent on the preset parameter.

[0033] It is further proposed that the machining parameter comprise a feed force and / or a rotational speed of the machining unit. The machining, in particular a drilling process, can thereby be controlled particularly advantageously. Preferably, the machining parameter is configured as the feed force or the rotational speed of the machining unit. Preferably, the additional machining parameter is configured as the rotational speed of the machining unit or as the feed force. Preferably, the at least two machining parameters comprise the feed force and the rotational speed of the machining unit.

[0034] The feed force of the machining unit is preferably a feed force of at least the tool unit and / or the tool, in a feed direction of the tool unit relative to the object to be machined, wherein the feed direction runs in particular along an axial direction of the tool unit and in particular of the tool. The feed force is preferably provided by the manipulator unit. The rotational speed of the machining unit is preferably a rotational speed of at least the tool, in particular with respect to a rotation axis along the axial direction. Alternatively, a different configuration of the at least one machining parameter would be conceivable, in particular for a configuration of the working robot different from a drilling robot.For example, the processing parameter could be configured differently from a feed force and / or a rotational speed of the processing unit, or the feed force and / or the rotational speed of the processing unit could be specified differently, in particular for a processing of the object by the processing unit that is configured differently than drilling. For example, for a design of the work robot as a sawing robot for sawing into the object, it is conceivable that the rotational speed of the processing unit is configured differently from a rotational speed of the tool with respect to a rotational axis, in particular perpendicular to the feed direction.

[0035] The machining parameter is preferably designed as a set and / or controlled feed force and / or rotational speed of the machining unit for the machining. The machining process value preferably has information and / or at least one value relating to a determined drilling progress and / or torque and / or current and / or acceleration and / or feed force and / or rotational speed of the machining unit. The machining process value or the at least one additional machining process value is preferably designed as the drilling progress and / or the torque and / or current and / or acceleration and / or feed force and / or rotational speed of the machining unit. The drilling progress takes into account, in particular, a feed rate in the feed direction of the tool and / or a process time.Advantageously, the determined drilling progress can be based on the at least one specified parameter, in particular at least the borehole depth, whereby a different borehole depth can be particularly advantageously taken into account in the determined drilling progress. The sensor unit can have, for example, a position sensor and a timer for determining the feed rate. Advantageously, at least one position sensor already integrated in the work robot, in particular in the manipulator unit and / or in the tool unit, can be used to determine the feed rate, which position sensor is provided in particular for orienting the work robot in the work environment. The torque is in particular a torque of the tool with respect to the rotation axis, in particular the axial direction, of the tool.The sensor unit can have a torque sensor, in particular on the tool unit and / or the tool, to determine the torque. The current is in particular a current for operating a drive motor of the tool unit, which can be measured, for example, by the sensor unit at a power connection of the drive motor. The sensor unit can have a current sensor for measuring the current. The sensor unit can have a force sensor, in particular a force moment sensor, for example, on each joint of the manipulator unit to determine the feed force, wherein the force measured there can be converted, in particular, into the effective force with respect to the axial direction. The acceleration is in particular an unwanted acceleration of the tool and / or the tool unit due to vibration and / or oscillation of the tool and / or the tool unit during machining.The sensor unit can have an acceleration sensor, in particular a triaxial acceleration sensor, to determine the acceleration. For example, the feed force and the rotational speed can be adjusted for a sudden change in acceleration, in particular due to a reinforcement hit and / or a pebble in the object, in order to prevent damage to the working robot, in particular to the tool.

[0036] The processing parameter can be constant within an individual process state or have a temporal development predetermined and / or controlled by the control unit. It is conceivable that a respective processing parameter of each process state has the same temporal development, in particular the same form of temporal development, wherein this is predetermined by the control unit, in particular independently of the processing conditions. In particular, it is conceivable that a control signal from the control unit for controlling the processing unit is constant within a process state and / or has a uniform signal form. In an advantageous embodiment, however, it is proposed that the control unit be provided to change the temporal development of the processing parameter.In particular, the control unit is provided for changing the temporal development based on the at least one machining process value. The control unit is in particular provided for changing the shape of the control signal for controlling the machining unit. Advantageously, a change in the machining parameter controlled by the control unit can define a temporal profile, in particular a shape of the temporal profile, of the machining parameter at least up to the next temporally adjacent change. This makes it possible, in particular, to provide a temporally variable machining parameter for particularly efficient machining. The temporal development can have a ramp shape, wherein the machining parameter increases in particular within the process state, or a pulsating shape, wherein the machining parameter increases and decreases in particular within the process state in a pulsating manner.For example, such a form of temporal development of the machining parameters, in particular the feed force and / or the rotational speed, can achieve particularly efficient borehole creation in a drilling process, especially for an inhomogeneous object material. Advantageously, the working robot system can react particularly favorably to reinforcement impacts.

[0037] It is further proposed that the control unit be provided to determine at least one damage state and / or a wear state of the processing unit based on the at least one processing process value. This can advantageously increase the safety and / or service life and / or maintenance efficiency of the work robot system and / or the work robot. The determined damage state contains, in particular, information relating to existing damage to the processing unit and / or relating to a chance of damage being generated to the processing unit in a current operating state. The determined wear state contains, in particular, information relating to existing wear, for example relating to an extent of existing wear, of the processing unit and / or relating to an extent of wear being generated to the processing unit in the current operating state.The control unit can be provided in particular for determining the damage state and / or the wear state based on the forecast model.

[0038] In particular, it is conceivable that the control unit is provided for a safety operation based on the damage state and / or wear state. The safety operation can, for example, involve creating a message for output to the operator, for example containing information on a recommended replacement and / or a quality and / or a remaining service life of the machining unit, in particular of the tool, and / or at least a restriction of the at least one machining parameter and / or a blocking of machining. For example, the control unit can be provided for at least one restriction of the machining parameter and / or for the creation of a corresponding warning message in the event of a detected drill bit breakage and / or for a detected overload due to a detected current intensity above a current intensity limit value.

[0039] The control unit can be provided to determine a state, in particular at least one problem state, of the object, in particular of the material of the object, based on the at least one processing process value. In the problem state, the object has, in particular, poor material quality, in particular with regard to the production and / or stability of the processed product. For example, poor concrete quality of the object could be determined based on an unusually high drilling progress. The control unit can be provided, in particular, to determine the state of the object based on the forecast model. The control unit can be provided to execute a corresponding safety operation, in particular at least to generate a corresponding message for output to the operator, based on the state of the object.

[0040] The control unit is preferably provided to log the at least one machining process value, in particular at least a portion of the process data and preferably all determined and / or set and / or predetermined process data of the machining and / or to store said value, in particular internally in the work robot and / or the control unit. Advantageously, the process data can also be accessed for evaluation outside of a machining operation, in particular in an offline state of the machining unit and / or the work robot. Advantageously, the process data can be used to improve the machining parameter and / or to change the machining parameter during machining. The work robot system, in particular the control unit, can be provided to change, in particular to improve, the data field characteristic map and / or the forecast model, in particular also in the offline state, based on the process data.Alternatively or additionally, the work robot system, in particular the control unit, can be provided to evaluate a tool quality, in particular for carrying out a specific type of machining, based on the process data and in particular to create a recommendation for future machining based on the evaluation. Alternatively or additionally, the work robot system, in particular the control unit, can be provided to create maintenance and / or wear predictions for components of the overall system, in particular of the work robot, based on the process data. Alternatively or additionally, the work robot system, in particular the control unit, can be provided to determine country-specific characteristics of the object, for example the presence of particularly hard concrete in Japan and / or a particularly large amount of reinforcement in Norway, and to take them into account, in particular for machining.

[0041] Furthermore, a method for operating a work robot system, in particular the one mentioned above, is proposed, comprising a processing unit having a tool unit, in particular a drilling unit, for processing an object. The processing unit is controlled and at least one processing parameter of the processing unit is changed based on at least one processing process value occurring during processing. This can, in particular, increase the precision and / or efficiency and / or safety of the work robot system and / or of a work robot, in particular the one mentioned above.

[0042] The method preferably comprises a real-time loop, in particular a real-time control loop, for a real-time change and / or a long-term loop, in particular a long-term control loop, for a long-term change, which in particular run at least partially simultaneously with one another. In a method step, in particular a determination step, of the method, which can in particular be assigned to the real-time loop and / or the long-term loop, the machining process value and / or at least one additional machining process value is preferably determined, in particular by means of a sensor unit. The method, in particular the real-time loop, preferably comprises a further method step, in particular a real-time evaluation step, which in particular takes place after the determination step.In the real-time evaluation step, preferably at least one change variable for the change in the machining parameter is determined based on the machining process value and in particular the at least one additional machining process value.

[0043] The method, in particular the long-term loop, preferably has a comparison loop and / or a prediction loop, which in particular run at least partially simultaneously. The long-term loop preferably takes place after the determination step and at least one further determination step, in which at least one further machining process value is determined in a further individual machining process. In a further method step, in particular a comparison evaluation step, of the method, in particular the comparison loop, comparison information is preferably defined, in particular based on a comparison of a statistical property of the machining process value determined in the comparison evaluation step and the further machining process value with a stored database characteristic map.The method, in particular the forecast loop, preferably has a further method step, in particular a forecast evaluation step, in which a forecast result is preferably determined, in particular based on a forecast model created in the forecast evaluation step as a function of the processing process value and the further processing process value.

[0044] In a method step, in particular a control step, of the method, which can in particular be assigned to the real-time loop and / or the long-term loop, the processing parameter is preferably changed, in particular based on the change variable and / or the comparison information and / or the forecast result and at least one further piece of information, in particular relating to the unchanged processing parameter and / or a processing parameter setpoint and / or a predetermined limit interval of the processing parameter and / or a predetermined temporal development of the processing parameter. The method is preferably repeated multiple times in an overall processing of the object. In particular, the real-time loop is repeated multiple times within a single execution of the long-term loop.

[0045] The work robot system, the work robot, and the method for operating the work robot system are not intended to be limited to the application and embodiment described above. In particular, the work robot system, the work robot, and the method for operating the work robot system may have a number of individual elements, components, and units as well as 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.

[0046] drawing

[0047] 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.

[0048] They show:

[0049] Fig. 1 A schematic representation of a working robot system with a processing unit which has a tool unit,

[0050] Fig. 2 is a schematic representation of the tool unit and Fig. 3 is a flow chart for operation of the work robot system.

[0051] Description of the embodiment

[0052] Figure 1 shows a schematic representation of a work robot system 10 with a processing unit 12. The processing unit 12 has a tool unit 14 for processing an object 30. The object 30 is designed as a ceiling 40. The work robot system 10 has a control unit 18 at least for controlling the processing unit 12.

[0053] The work robot system 10 has a manipulator unit 16. The manipulator unit 16 is provided for moving, aligning, and supporting the tool unit 14. The manipulator unit 16 is provided for at least partially providing a machining force for machining by the tool unit 14. The manipulator unit 16 is provided for moving the tool unit 14 at least in a feed direction 56 (see Figure 2). The manipulator unit 16 is designed as a robot arm 26. Alternatively, it is conceivable for the manipulator unit 16 to be designed differently from a robot arm, for example, only having one degree of freedom for translating the tool unit 14 in the feed direction 56 (see Figure 2).

[0054] The processing unit 12 has the manipulator unit 16. Alternatively, it would be conceivable for the manipulator unit 16 to only have the tool unit 14.

[0055] The work robot system 10 has a movement unit 38, which is provided for moving the manipulator unit 16 and the tool unit 14. The movement unit 38 is provided for moving the processing unit 12. The tool unit 14 is connected to the movement unit 38 via the manipulator unit 16. The processing unit 12 is connected to the movement unit 38 in a position above the movement unit 38. The work robot system 10 is presently designed as a work robot 60. The control unit 18 is entirely part of the work robot 60. The work robot 60 has the processing unit 12. The work robot 60 has all components of the work robot system 10. Alternatively, it is conceivable for the work robot 60 to only partially comprise the work robot system 10.For example, at least a portion of the control unit 18 could be configured separately from the work robot 60 for at least partially implementing a long-term loop 112 (see Figure 3). Alternatively, it is also conceivable for the work robot system 10 to only partially include the work robot 60. For example, the work robot system 10 can be configured independently of the movement unit 38 of the work robot 60.

[0056] Alternatively, it is conceivable that the work robot system 10 and the work robot 60 are designed independently of the movement unit 38, whereby the manipulator unit 16 can be installed in a fixed position. It is conceivable that the work robot 60 is designed, for example, as an industrial robot.

[0057] Figure 2 shows the tool unit 14 and the object 30 in a schematic enlarged view. The tool unit 14 is embodied here as a drilling unit 24. The tool unit 14 has a tool holder 36 for removably receiving a tool 22. The tool 22 can be interchangeably received in the tool holder 36.

[0058] Alternatively, it would be conceivable for the tool unit 14 to have the tool 22 firmly connected to the manipulator unit 16. It is conceivable for the tool unit 14 to have the tool 22. The tool 22 is designed as a drilling tool 32.

[0059] The tool unit 14 is embodied here as a handheld power tool 34. The tool unit 14 is embodied as a hammer drill 44. Alternatively, the tool unit 14 can be embodied differently from a handheld power tool 34.

[0060] The manipulator unit 16 is provided for providing a feed force to the tool unit 14 for processing (see Figure 1). The feed force points in the feed direction 56. The manipulator unit 16 is provided for moving the tool unit 14 relative to the object 30 along the feed direction 56 for processing. The manipulator unit 16 is provided for moving the tool 22 relative to the object 30 along the feed direction 56 for processing.

[0061] The feed direction 56 runs along a rotation axis 58 of the tool 22. The feed direction 56 runs along an axial direction 66 of the tool 22.

[0062] The work robot 60 is designed as a drilling robot 62. The work robot system 10 is designed as a drilling robot system 20 (see Figure 1). Alternatively, a different configuration of the work robot 60, the work robot system 10, and the tool unit 14, which would appear appropriate to a person skilled in the art, is conceivable for a different type of processing of the object 30.

[0063] The control unit 18 is designed to change at least one machining parameter of the machining unit 12 based on at least one machining process value occurring during machining. The control unit 18 is designed to regulate the machining by changing the adjustable machining parameter based on the machining process value.

[0064] In this case, the machining parameter is configured as the feed force. An additional machining parameter is configured as the rotational speed. Alternatively or additionally, other configurations of the machining parameter and / or the additional machining parameter are conceivable; for example, the machining parameter can be configured as and / or include the rotational speed.

[0065] The feed force of the machining unit 12 is a feed force of the tool 22 in the feed direction 56 of the tool 22 relative to the object 30 for machining. The rotational speed is a rotational speed of the tool 22 relative to the rotation axis 58. The control unit 18 is provided to change the machining parameter based on the machining process value and at least one additional machining process value. The machining process value and the at least one additional machining process value are and / or characterize different physical process variables of the machining that are present simultaneously.

[0066] In this case, the control unit 18 is provided to change the machining parameter and the at least one additional machining parameter based on a plurality of machining process values. The machining process values ​​are embodied as a determined feed force, a feed rate, a current intensity, an acceleration, and a torque. Alternatively or additionally, other machining process values ​​that appear appropriate to a person skilled in the art are conceivable.

[0067] The feed rate is a feed rate of the tool 22 in the feed direction 56 of the tool 22. The torque is a torque of the tool 22 with respect to the rotation axis 58. The current is a current for operating a drive motor (not shown) of the tool unit 14. The current is provided in this case by a connecting cable 68. The acceleration describes a vibration and / or oscillation of the tool 22 during machining.

[0068] The work robot system 10 has a sensor unit 28 for measuring the machining process value or a characteristic value characterizing the machining process value. The sensor unit 28 is provided for measuring the additional machining process value or an additional characteristic value characterizing the additional machining process value.

[0069] The sensor unit 28 has at least one force-moment sensor 46 for determining the feed force. The sensor unit 28 has at least one force-moment sensor 46 at each joint 64 of the manipulator unit 16, whereby only one joint 64 and one force-moment sensor 46 are designated (see Figure 1). The sensor unit 28 has a position sensor 48 for determining the feed rate as a function of a time measurement (see Figure 1). The sensor unit 28 has a torque sensor 50 for determining the torque (see Figure 1). The sensor unit 28 has an acceleration sensor 52 for determining the acceleration (see Figure 1). The acceleration sensor 52 is designed as a triaxial acceleration sensor. The sensor unit 28 has a current sensor 54 for determining the current strength (see Figure 1).The position sensor 48, the torque sensor 50, the acceleration sensor 52 and the current sensor 54 are arranged on or in the tool unit 14 (see Figure 1).

[0070] The control unit 18 is designed to change the machining parameter in real time based on the machining process value of an individual machining process. The individual machining process is a process for generating a local, individual machining product 42 in the object 30. The machining product 42 is formed as a drilled hole. The real-time change is a change in the machining parameter with respect to a single pass through a real-time loop 110 of a real-time machining control (see Figure 3).

[0071] The control unit 18 is designed to perform a long-term change of the machining parameter based on the machining process value of an individual machining process and on at least one further machining process value of at least one further individual machining process. The long-term change is a change of the machining parameter with respect to a single pass through the long-term loop 112 of a long-term machining control (see Figure 3).

[0072] The long-term change is based on a statistical property of the machining process value and the further machining process value. The control unit 18 is provided for determining the statistical property.

[0073] The control unit 18 is designed to compare the statistical property with data from a stored database map and assign it to a comparison information item. The control unit 18 is designed to make long-term changes based on the comparison information.

[0074] The long-term change is based on a forecast model that depends on the machining process value and the additional machining process value. The control unit 18 is provided to define and / or select the forecast model based at least on the machining process value and the additional machining process value. The control unit 18 is provided to determine a forecast result of the forecast model. The control unit 18 is provided for the long-term change based on the forecast result.

[0075] The control unit 18 is designed to change the machining parameter based on the real-time change and the long-term change. Alternatively, it is conceivable that the control unit 18 is designed to change the machining parameter based solely on the real-time change or the long-term change.

[0076] The control unit 18 is designed to change the processing parameter based on at least one default parameter. The control unit 18 stores the default parameter. The default parameter is defined before processing. The default parameter describes a global property of the object 30 and / or a uniform property of the processing. The default parameter can be set, for example, by the user and / or by a separate sensor unit (not shown) and / or a processing plan for the processing.

[0077] The control unit 18 is configured to change the processing parameter based on a plurality of predefined parameters. The predefined parameters may include predefined dimensions of an individual processed product 42 and / or global conditions of the object 30. The prediction model is dependent on the at least one predefined parameter.

[0078] The control unit 18 is provided for changing the temporal development of the machining parameter. The control unit 18 is provided for changing the temporal development based on the at least one machining process value. The control unit 18 is provided for changing the shape of a control signal for controlling the machining unit 12. The temporal development can, for example, have a ramp shape or a pulsating shape. The control unit 18 is provided for changing the temporal development of the machining parameter within a single process state.

[0079] The control unit 18 is provided to determine at least one damage state and one wear state of the machining unit 12 based on the at least one machining process value. The damage state and wear state of the machining unit 12 are a damage state and wear state of the tool 22. The control unit 18 is provided for a safety operation based on the damage state and / or wear state. The safety operation can, for example, involve generating a message for output to the operator or at least restricting machining.

[0080] Figure 3 shows a flowchart of a method for operating the work robot system 10, wherein the processing unit 12 is controlled and at least one processing parameter of the processing unit 12 is changed based on at least the processing process value occurring during processing.

[0081] The method preferably includes real-time loop 110. Real-time loop 110 includes real-time control of the processing. The real-time change is part of real-time loop 110.

[0082] The method preferably includes long-term loop 112. Long-term loop 112 includes long-term control of the machining process. The long-term change is part of long-term loop 112. Real-time loop 110 and long-term loop 112 occur simultaneously, at least in part. Real-time loop 110 and long-term loop 112 share at least one method step. In a determination step 100 of the method, the at least one machining process value is determined. Real-time loop 110 and long-term loop 112 include determination step 100.

[0083] The method includes a real-time evaluation step 102. The real-time evaluation step 102 is part of the real-time loop 110. In the real-time evaluation step 102, at least one change variable for the change in the machining parameter is determined based on the machining process value.

[0084] The method comprises a comparison loop 114 and a forecast loop 116. The comparison loop 114 and the forecast loop 116 are part of the long-term loop 112. The comparison loop 114 and the forecast loop 116 occur simultaneously, at least in sections. The comparison loop 114 and the forecast loop 116 share at least one method step.

[0085] The long-term loop 112 takes place after at least two determination steps 100 at different boreholes. The machining process value is determined in one determination step 100 of the individual machining process, and the at least one further machining process value is determined in at least one further determination step 100 of the further individual machining process. Due to the repeated process cycle, only one determination step 100 is shown.

[0086] The method includes a comparison evaluation step 104. The comparison evaluation step 104 is part of the comparison loop 114. In the comparison evaluation step 104, the comparison information is determined. In the comparison evaluation step 104, a statistical property of the machining process value and the further machining process value determined in the comparison evaluation step 104 is compared with the stored database characteristic map to determine the comparison information.

[0087] The method comprises a forecast evaluation step 106. The forecast evaluation step 106 is part of the forecast loop 116. In the forecast evaluation step 106, the forecast result is determined. In the forecast evaluation step 106, a forecast model is defined and / or selected depending on the machining process value and the further machining process value in order to determine the forecast result. In a control step 108 of the method, the machining parameter is changed based on the change variable and / or the comparison information and / or the forecast result. The control step 108 is part of the real-time loop 110 and / or the long-term loop 112. The real-time loop 110 is repeated multiple times within a single execution of the long-term loop 112.

Claims

Claims 1 . A work robot system (10) with a processing unit (12) which has a tool unit (14), in particular a drilling unit (24), for processing an object (30), and with a control unit (18) at least for controlling the processing unit (12), characterized in that the control unit (18) is provided to change at least one processing parameter of the processing unit (12) based on at least one processing process value occurring during processing.

2. Working robot system (10) according to claim 1, characterized by a sensor unit (28) for measuring the machining process value or a characteristic value characterizing the machining process value.

3. Working robot system (10) according to one of the preceding claims, characterized in that the control unit (18) is provided for a real-time change of the machining parameter based on the machining process value of an individual machining process.

4. Work robot system (10) according to one of the preceding claims, characterized in that the control unit (18) is provided for a long-term change of the machining parameter based on the machining process value of an individual machining process and on at least one further machining process value of at least one further individual machining process.

5. Working robot system (10) according to claim 4, characterized in that the long-term change is based on a statistical property of the machining process value and the further machining process value.

6. Work robot system (10) according to one of claims 4 or 5, characterized in that the long-term change is based on a forecast model which is dependent on the machining process value and the further machining process value.

7. Working robot system (10) at least according to claims 3 and 4, characterized in that the control unit (18) is provided to change the processing parameter based on the real-time change and the long-term change.

8. Working robot system (10) according to one of the preceding claims, characterized in that the control unit (18) is provided to change the processing parameter based on at least one default parameter.

9. Working robot system (10) according to one of the preceding claims, characterized in that the control unit (18) is provided for changing the temporal development of the processing parameter.

10. Work robot system (10) according to one of the preceding claims, characterized in that the control unit (18) is provided to determine at least one damage state and / or a wear state of the processing unit (12) based on the at least one processing process value.

11. Working robot system (10) according to one of the preceding claims, characterized in that the processing parameter comprises a feed force and / or a rotational speed of the processing unit (12).

12. Working robot (60) of a working robot system (10) according to one of the preceding claims, characterized by the processing unit 13. A method for operating a work robot system (10), in particular according to one of claims 1 to 11, with a processing unit (12) which has a tool unit (14), in particular a drilling unit (24), for processing an object (30), wherein the processing unit (12) is controlled, characterized in that at least one processing parameter of the processing unit (12) is changed based on at least one processing process value occurring during processing.

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