Method for localizing a target position, localizing device, computer program product and construction robot

Abstract

The invention relates to a method (1000, 1001) for localizing a target position (226), in particular a working position, a position of a construction robot (10) or a position of a portable device, on a construction site (200), for example a building construction site (200) or an underground construction site (200), by means of a localizing device (32). Provision is made for the localizing device (32) to coarsely localize the target position (226), that is to say to determine a construction site portion (210) of the construction site (200) in which the target position (226) is located. As a result, the reliability of localizing processes can be improved. Furthermore, the invention relates to a localizing device (32), to a computer program product (30) and to a construction robot (10).

Description

[0001] Method for locating a target position, localization device, computer program product and construction robot

[0002] Description

[0003] The invention is based on a method for locating a target position on a construction site.

[0004] For example, in order for a construction robot to be able to carry out construction work at a work position as the target position, it must locate this work position.

[0005] Outdoors, it's conceivable to use satellite-based tracking systems. However, such tracking systems require the reception of signals from multiple satellites.

[0006] However, this is not always the case at all construction sites. For example, during construction work inside a building, reliable positioning using such a satellite-based tracking system is usually not possible. Depending on the weather conditions, sufficient signal strength may not be available at outdoor construction sites.

[0007] It is currently known to determine target positions within a building, for example using a total station.

[0008] However, with such a total station, it is only possible to determine the coordinates of the target position within a specific section of the construction site, for example, within a room, relative to predefined calibration markings. The use of a total station also requires a line of sight between the location of the total station and the position of the target position to be determined.

[0009] Therefore, for the successful use of the total station, it is necessary that it is already located in the correct part of the construction site and that it can establish a line of sight. Modern office complexes, as well as other buildings, such as production buildings, often have repetitive and / or mirror-symmetrical structures. For example, an office complex may require the construction of a large number of identical individual offices next to each other.If no global positioning signal, such as a satellite-based positioning system, is available in this office complex, the total station can be used to determine a position within one of the individual offices. However, it cannot be guaranteed that a specific target position within a specific individual office will actually be located in the correct individual office, meaning that the specific position actually corresponds to the target position to be determined. The total station may simply be located in a different individual office, for example.

[0010] The object of the present invention is therefore to provide methods and devices which make it possible to reliably determine target positions on any construction site, in particular on construction sites where no or insufficiently reliable signals from satellite-based positioning systems can be received.

[0011] The problem is solved by a method for localizing a target position, in particular a work position, a position of a construction robot, or a position of a portable device, on a construction site, for example, a building construction site or a civil engineering site, using a localization device. The localization device roughly localizes the target position, i.e., determines a part of the construction site in which the target position is located. Rough localization can include the localization device determining in which specific part of the construction site—in buildings, for example, in which room, on which level, or in which building area—the target position is located.

[0012] The position may include directional data, such as the position or orientation of an object, as an alternative or in addition to longitudinal coordinates. In particular, it may include one-, two-, or three-dimensional directional data in addition to 2D or 3D coordinates of the target position. The position may therefore correspond to three-, four-, five-, or six-dimensional data.

[0013] One idea of ​​the invention is to use a multi-step localization method, in which one of the steps includes coarse localization, instead of a positioning system, such as a satellite-based positioning system, which is fundamentally designed to determine a position globally based on a global coordinate system through a single measurement step. Coarse localization can prevent errors and measurement faults that can arise, for example, in buildings with repetitive and / or mirror-symmetrical structures during different construction phases.

[0014] If identification markings are attached to parts of the construction site, such as rooms, rough localization can be achieved simply by the localization device evaluating, in particular reading, the identification marking identifying the part of the construction site. The identification marking can be located, for example, on a wall, a door, a floor, and / or a ceiling. The identification marking can identify a part of the construction site on or in which it is located. The identification marking can, for example, have a room number or a floor number. The localization device can, for example, be configured to evaluate room numbers. It can be configured to analyze specific areas of a wall, the area surrounding a door, a floor, and / or a ceiling.It is conceivable, for example, that the localization device is set up to read a floor number, for example from a display unit of an elevator or a sign.

[0015] The localization device may include a camera. It may be configured to capture an image using the camera. It may be configured to evaluate the image using an image evaluation unit.

[0016] The localization device can also determine which part of the construction site the target position should be located in. For example, it can be configured to access a construction site plan, such as a BIM model and / or CAD data. By comparing the data derived from the identification marking with the identified part of the construction site, the localization device can, for example, determine whether the target position is located in the part of the construction site, such as the room, in which it is located and / or whose identification marking it has evaluated.

[0017] If the localization device is located in the wrong part of the construction site, it can emit an alert signal. Alternatively or additionally, it is conceivable that the localization device itself or another device, such as a construction robot or a total station, could move to another, particularly the correct, part of the construction site, or that the localization device could control the other device accordingly, so that the other device moves to the other part of the construction site. If necessary, this procedure can be repeated until the localization device has determined or, if applicable, reached the correct part of the construction site.

[0018] The identification marking can also be evaluated while the localization device is still approaching a specific part of the construction site or moving within that part. For example, it can be configured to capture and evaluate images of a floor number displayed in or on an elevator. This allows it to determine, for example, which floor it is located on or whether it is on the floor where the target position is supposed to be.

[0019] The method can thus ensure that the desired target position is actually determined or found and not another, analogous position in another part of the construction site, just because the construction site has a high degree of symmetry, for example.

[0020] The reliability with which target positions can be determined can thus be significantly increased. Serious consequences of fundamentally incorrect localizations can be avoided, or at least their probability significantly reduced. In particular, the method can prevent autonomously operating construction robots from carrying out construction work in completely incorrect parts of the construction site due to incorrect localization of target positions. For this purpose, it can be provided that the construction robot uses such a localization device in accordance with the method or has access to localization data from the method. The method can then help prevent such incorrect work and significantly reduce the corrective work triggered by such incorrect work and the associated cost risks.

[0021] In a further step, the method can provide for the construction robot to finely localize the target position, i.e., determine the target position relative to one or more calibration positions, for example, reference points. The calibration positions can, for example, be measured position markers, particularly within the part of the construction site in which the localization device is located. It is also conceivable to provide points on existing structures as calibration positions. A corner of a room, for example, can also serve as a calibration position, provided the corner can be assigned to the planning coordinate system in which the target position is defined. For example, the construction robot can be configured to place a total station on the part of the construction site. With the help of the total station, it can then finely localize the target position in this part of the construction site, provided it has previously determined with the help of the localization device that it is in the correct part of the construction site.

[0022] For example, it can determine on which wall and at which position within the wall the target position to be determined is located. Instead of or in addition to the total station, it is also conceivable for the construction robot to determine the fine localization using one or more LIDARs and / or one or more cameras. For example, the fine localization can be performed using a SLAM algorithm.

[0023] However, in many cases, for example in the early stages of construction sites, such identification markings for identifying the respective part of the construction site are not yet available.

[0024] Therefore, in one class of variants of the method, it can be provided that the localization device evaluates at least one signal originating from outside the part of the construction site, in particular from outside the construction site, for rough localization. The signal can originate from a signal source located outside the part of the construction site, in particular outside the construction site. The signal source can have generated the signal or significantly modified it. For example, a mountain wall as a signal source can reflect sunlight as the original signal and thus significantly changed its color so that the mountain wall is imaged or recognizable in the reflected light instead of the sun. The signal can generally be an electromagnetic, in particular optical or magnetic, acoustic or vibration-related, gravitational, material-related, thermal or nuclear physics-related, for example radioactivity-related, signal.A material-related signal can be, for example, a wind strength or direction, a water content, in particular a humidity level, a pressure, for example air pressure, or the like. A radioactivity-related signal can be, for example, radon activity, for example as a measure of the altitude in a building. An acoustic signal can be, for example, the intensity, timbre and / or direction of sound, for example street noise. For example, it can be used to identify in which of two opposite directions a street is most likely located, even if there is no line of sight to the street. The strength, frequency or frequency spectrum and / or a type of vibration, for example of a floor surface on which the locating device is located, can provide an indicator of the altitude within a building and thus, for example, of a floor number.

[0025] In a further class of variants of the method, it can be provided that the localization device evaluates at least one natural signal for rough localization.

[0026] A natural signal can be understood as a signal from a naturally occurring, non-man-made signal source.

[0027] For example, the natural signal may correspond to the Earth's magnetic field. For this purpose, the locating device may be equipped with a magnetic field sensor. Using the magnetic field sensor, the locating device can determine its orientation and / or the direction in which the target position to be determined must be located. This often allows the search area, in which the target position to be determined must be located, to be narrowed down to a subsection of the entire construction site, for example, to half or even a quarter of the entire construction site.

[0028] The gravitational constant can provide clues to nearby mass concentrations. For example, an indicator signal can be obtained that provides an estimate of the height above ground, for example, in the case of very tall buildings. This can also take advantage of the fact that skyscrapers and similar structures are essentially composed of enclosed cavities, so the gravitational constant decreases the further the tracking device is from the ground. This can also be used to determine a floor number, for example.

[0029] The natural signal can also be based on air pressure. The floor number can also be determined based on air pressure. In particular, it is conceivable that the construction robot could log a change in air pressure. For example, it could determine a baseline air pressure upon entering a construction site. By repeatedly measuring the air pressure and calculating the difference to the baseline air pressure, the construction robot can determine any changes in its elevation and thus, for example, a floor number.

[0030] In general, it is also conceivable to evaluate multiple signals in combination. For example, air pressure and temperature, vibration behavior, etc., can be combined to determine a signal for an altitude or floor number. Combining these signals can increase reliability.

[0031] In one class of variants of the method, it is conceivable that the natural signal is based on light, such as light from space, in particular sunlight, moonlight, and / or other starlight. This is particularly conceivable if light from outside can penetrate into the interior of the construction site, in particular the part of the site where the construction robot is located. This can, for example, apply to rooms that have windows, glass fronts, light shafts, and / or the like.

[0032] The signal can be based on the direction of incidence of the light. For example, it is conceivable that the localization device is configured to determine the direction of incidence of the light. In conjunction with the time of day, this can be used to determine, for example, which construction site area the localization device is located in, divided into a northern, southern, eastern, or western construction site area. Alternatively or additionally, a shadow can also be detected. For example, the direction of a shadow can be determined, which provides similar evaluation options for rough localization as with the analysis of the direction of incidence of the light.

[0033] It is particularly conceivable that the natural signal is an optical signal. It can be captured, for example, by taking an image, particularly of an area outside the construction site or part of the construction site. It is thus conceivable that the localization device captures the image through the window, the glass front, and / or the like. Geographical elements can then be depicted on the image, which in turn can be used for rough localization.

[0034] For rough localization, the device can use GIS data. Based on the signal, the localization device can, for example, determine a construction site area or even the part of the site in which it is located.

[0035] It can compare the image recording with the GIS data, a part of it or a model calculation created based on the GIS data.

[0036] In a building that has two rooms arranged in mirror symmetry, each with a window overlooking the outside of the construction site, such a comparison can make it possible to differentiate between rooms that are otherwise identical except for the mirror symmetry. The GIS data can include map data of the area surrounding the construction site. For example, there may be a mountain range on one side of the construction site. On the other side of the construction site, there may be a building. Depending on whether the mountain range or the building is visible in the image, the localization device is located in one or the other room or is oriented in one or the other direction.

[0037] Another particularly advantageous feature is that such GIS data are now highly available. Especially for cities and municipalities, structures are often stored in the GIS data even at the level of individual buildings. This allows streets or even individual buildings to be identified and differentiated from one another. This can make it possible to distinguish between numerous rooms that, apart from symmetries, are identical or almost identical. In a row of several adjacent rooms, it can be determined which position a room is in within the row.

[0038] It is particularly advantageous to evaluate additional optical and / or acoustic signals using GIS data for such a rough localization. This can also be done as part of the image analysis. This makes it possible to distinguish between rooms, even if the construction site is located in an area that itself exhibits a high degree of symmetry. Such a situation can arise, for example, if the construction site is located near terraced housing developments or similar.

[0039] The invention further includes a method for carrying out construction work on a construction site at a target position, for example, a building construction site or a civil engineering site, by a construction robot. A localization device roughly localizes the target position using the method described above, i.e., determines a section of the construction site in which the target position is located, determining coordinates of the target position relative to the section of the construction site or to the construction site, and the construction robot carries out the construction work at the target position. According to the method, the construction robot roughly localizes itself using the method described above.

[0040] Furthermore, the construction robot can select the construction work to be carried out from a database, for example a CAD model, a BIM (building information model) database or the like. The construction robot carries out the selected construction work. This method can reliably ensure that construction work is carried out in the correct parts of the construction site, for example in the correct rooms. It is conceivable that the construction robot selects the construction work based on its type, among other things. If the construction robot is only set up for one type of construction work, for example only drilling work, it can be configured to only select construction work that it can at least partially carry out, in the example, construction work that includes drilling work.

[0041] If it is configured to perform different types of construction work, it is conceivable that the construction robot would select and execute construction work sequentially, sorted by type. This would avoid inefficient interruptions, for example, to change a tool and / or machine tool.

[0042] The construction robot can select the construction work to be performed based on the construction site section determined by coarse localization. For example, if the construction robot has roughly localized itself to the point where it knows which construction site area or similar it is located in, the construction robot can preferentially select construction work in its vicinity, especially in the same construction site section as the construction robot itself. This can shorten or even largely avoid interruptions for changing a construction site section or similar.

[0043] To perform the selected construction work, the construction robot can now determine the work position for the selected construction work as the target position. For example, it can use a total station located in the construction site or place such a total station on the construction site.

[0044] The scope of the invention further includes a localization device for localizing a target position, which is configured to carry out the method for localizing a target position described above. The localization device can have a computer. The computer can have at least one processor and a memory. A computer program product executable on the processor can be stored in the memory in a retrievable manner. The localization device can have one or more sensors. The sensors can be configured to measure the signal or different signals. For example, the localization device can have a camera and / or a microphone, for example a stereo microphone. It can also have a display unit to present results. For example, it can be designed in the form of a smartphone. The localization device can also be part of a distributed computer system, for example a cloud-based computer system.The invention also encompasses a computer program product configured to execute the method described above for locating a target position when executed on the localization device. The computer program product can be stored retrievably on a storage medium. The storage medium can be non-volatile or volatile memory. It can be part of a distributed computer system, for example, a cloud-based computer system. It can be stored there in a way that is accessible and / or executable via the internet.

[0045] The invention also includes a construction robot for carrying out construction work on a construction site at a target location, comprising a mobile platform, a robot arm, and a localization device. The localization device can be, at least partially, integrated into a controller of the construction robot. The controller can therefore include the computer program product. The mobile platform can be, for example, a mobile platform or a flying platform.

[0046] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen. The various features can be implemented individually or in combinations in variants of the invention.

[0047] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.

[0048] They show:

[0049] Fig. 1 a construction robot;

[0050] Fig. 2 a part of the construction site;

[0051] Fig. 3 a schematic representation of a construction site and associated GIS data and

[0052] Fig. 4 a method.

[0053] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0054] Fig. 1 shows a construction robot 10 with a mobile platform 12 designed as a tracked chassis, a control chamber 16 formed in a housing 14 and a robot arm 18 arranged on top of the housing 14. The robot arm 18 comprises a lifting device 17 for vertical displacement and a multi-axially controllable arm 19. Overall, the robot arm 18 can be extended to a maximum reach of at least 4 m, so that, taking into account the dimensions of the mobile platform 12 and the housing 14, construction work can be carried out at heights of up to at least 4.5 m.

[0055] At the free end of the arm 19 there is an end effector 20 with a change interface 21.

[0056] A machine tool 22 is arranged at the changeover interface 21. In this embodiment, the machine tool 22 is a setting machine tool in the form of an impact wrench.

[0057] There is also a camera 24 at the exchange interface 21.

[0058] Furthermore, the construction robot 10 has a cleaning device 26 for cleaning the camera 24, in particular a sensor surface of the camera 24. With the help of the arm 19, the camera 24 can be moved to the cleaning device 26 and cleaned by it.

[0059] Furthermore, the construction robot 10 has a controller 27 arranged in the control room 16. The controller 27 comprises a computer unit with a memory unit 28 and a processor 29.

[0060] The controller 27 is equipped with an executable computer program product 30. The computer program product 30 can be stored in the memory unit 28 for retrieval and can be executed on the computer unit. The controller 27 is configured, with the aid of the computer program product 30, to evaluate images captured by the camera 24 and to implement the method explained in more detail below. A localization device 32 is thus formed together with the camera 24 and the controller 27, including the computer program product 30. GIS data, among other things, is stored in the memory unit 28. In alternative embodiments, it is conceivable that the construction robot 10, in particular the controller 27, is configured to retrieve GIS data from a remote computer system, for example a cloud-based computer system that can be accessed via the Internet, for example, and / or to send data, in particular the images, to the remote computer system.Thus, for alternative embodiments, it is conceivable to evaluate the image recordings locally by the construction robot 10 and / or by the remote computer system.

[0061] Furthermore, the construction robot 10 is configured to detect contamination of a sensor surface of the camera 24 and, if necessary, to clean it with the aid of the cleaning device 26.

[0062] The construction robot 10 is designed to perform various construction work on ceilings, walls, or floors on a construction site, in particular on a building construction site or a civil engineering site. In order to be able to use specific machine tools and / or tools for the respective construction work, it has a tool changer 34 in which various machine tools and / or tools can be accommodated. The construction robot 10 is also configured to select a machine tool and / or tool and arrange it on the end effector 20 or, if necessary, to exchange it for a tool or machine tool already located there.

[0063] The construction robot 10, in particular the robot arm 18, may have further devices, for example a prism, a paint sprayer, a distance meter, a position and / or attitude determination logic, further cameras and / or the like, even if these are not shown in Fig. 1 for reasons of simplification.

[0064] Fig. 2 shows a construction site section 210 of a construction site 200 from the perspective of the construction robot 10 or its localization device 32 (see both Fig. 1), when the robot and thus its camera 24 are located in an entrance area of ​​the construction site section 210. The construction site section 210 corresponds to a room of a larger building. The construction site section 210 has a window 212. When looking through the window 212, a mountain range 214 is visible. Furthermore, the sun 216 can be seen through the window 212. In particular, sunlight 217 shines into the construction site section 210. The sunlight 217 radiates in the illustration according to Fig.

[0065] 2 from the front left into the construction site section 210.

[0066] Furthermore, an identification marking 220 is arranged on a wall 218. The identification marking 220 identifies the construction site section 210. In such a case, which may, for example, correspond to a well-developed construction phase, the localization device 32 can take an image of the identification marking 220 with the camera 24 for rough localization and, by evaluating the image, identify the construction site section 210 and thus roughly localize it. Depending on the quality of the identification marking, in particular depending on the scope of the data stored in the identification marking 220, this may already be sufficient to unambiguously identify the construction site section 210. With a smaller data volume, at least a floor number or the like can be identified, for example.

[0067] For an earlier stage of the construction progress, the construction robot 10 can evaluate an image recording of its view through the window 212 for rough localization, as explained in more detail below, particularly in connection with Fig. 4.

[0068] A total station 222 is located in the construction site section 210. The total station 222 uses its laser beam 224 to aim at a target position 226. In this exemplary embodiment, the target position 226 corresponds to a work position where construction work, such as drilling a hole, is to be carried out. In order to aim at the target position 226, the total station 222 can calibrate itself automatically. For example, it can be configured to measure the position and orientation of the window 212 relative to a surrounding wall 228 in relation to a zero point, for example, corresponding to a corner of the window 212.

[0069] The total station 222 can then determine the position of the target position 226 relative to the position and orientation of the window 212.

[0070] The construction robot 10 can use its localization device 32 to verify that the construction site section 210 actually corresponds to the construction site section in which the target position 226 is to be located, i.e., perform a rough localization, with respect to the target position 226 to be determined, at which subsequent construction work is to be carried out. In this embodiment, in which the localization device 32 is part of the construction robot 10, this can mean that the construction robot 10 checks that the position targeted by the laser beam 224 is in the correct space within the construction site 200.

[0071] In the situation shown in Fig. 2, the total station 222 is already located in the construction site section 210. It is also conceivable that the total station 222 itself is mobile. For example, it may have a mobile platform. In this case, the construction robot 10 can be configured to cause the total station 222 to approach it and thus move into the construction site section 210.

[0072] Thus, the total station 222 can then finely locate the target position 226 within the construction site section 210.

[0073] The construction robot 10 can then carry out a desired construction work, for example a drilling work, at the now determined target position 226, for which it is checked that the construction robot 10 is located in the correct part of the construction site 210, i.e. in the correct room.

[0074] Fig. 3 now shows the construction site 200 together with an environment and with the construction site part 210 in a schematic representation from above.

[0075] The construction site 200 has a plurality of similar, possibly symmetrical construction site parts in the form of individual rooms, of which the construction site part 210 is marked in Fig. 3 and in which the construction robot 10 is located in the situation shown in Fig. 3.

[0076] Adjacent to window 212 is an area 213 outside of construction site 200. A view from window 212 thus allows the reception of natural signals in the form of light or the optical image of area 213 including the mountains 214, etc.

[0077] Additionally, GIS data 227 is schematically depicted, representing additional landscape data. For example, the GIS data indicates that the mountains 214 are located west of the construction site 200 and a building 229 is located east. A direction of incidence 230 of the sunlight 217 is also marked. According to the time of day, which is represented in the example in Fig. 3, the direction of incidence 230 extends approximately from southwest to northeast.

[0078] The construction robot 10, also schematically shown in Fig. 3, is located on a western side of the construction site 200. As can be seen from Fig. 3, the construction robot 10 can determine this from the evaluation of the image recording, and here in particular from the analysis of the direction of incidence 230 and the detection of the rock 214. The rough localization can be further secured if the construction robot 10 also takes an image recording on a side opposite the window 212 through a window of a neighboring part of the construction site corresponding to the window 212. In such an image recording, the construction robot 10 can, for example, identify the building 229. According to the direction of incidence 230, the rock 214 is on the left and the building 229 is on the right of the construction robot.In addition, for rough localization, it can be used that the construction robot 10 is located on the wall 210 or near the window 212 and thus, for example, outside the center of the construction site 200.

[0079] Fig. 4 illustrates in flowchart form a method 1000 for performing construction work on a construction site at a target location including a method 1001 for locating a target location on a construction site, comprising a portion of the phases of the method 1000.

[0080] The methods 1000, 1001 are explained in more detail below with reference to the reference numerals introduced above.

[0081] First, in a phase 1010, the construction robot 10 locates a construction site part on which it is assumed that a target position 226 to be determined is actually located. For example, the construction robot 10 locates the construction site part 210. However, within the scope of the method 1001, this implicit assumption must be verified.

[0082] For this purpose, in a phase 1020, the construction robot 10 searches for a signal that can be used for rough localization. With reference to the preceding explanations in conjunction with Fig. 2 and Fig. 3, the construction robot 10 identifies, for example, a passage opening through which there is a clear view to the outside. In particular, it first identifies the window 212 with the aid of its camera 24. In this exemplary embodiment, it can provide, for example, the light falling through the window into the construction site section 210, in this case a natural signal, as a signal. In variants of the method, the construction robot 10 searches for further signals, e.g., from other directions, as shown in Fig. 3.

[0083] Then, in a subsequent phase 1030, the construction robot 10 records the signal on the basis of which the rough localization is to be performed. In particular, the construction robot 10 records light in the form of images of the view through the window 212. It is conceivable to record additional signals or images, for example, from other directions. In particular, it can create a second image in the direction of the building 229.

[0084] The construction robot 10 then evaluates the recorded signal—in this case, the light or the images—in a phase 1040. In this case, it identifies the mountain range 214 and determines the direction of incidence 230 of the sunlight 217. In the second image acquisition, it identifies the building 229.

[0085] He assigns the two elements of the area 213 surrounding the construction site 200 to the GIS data 227 in order to first derive the relative positions of the mountain 214 and the building 229 relative to the construction site 200.

[0086] In a subsequent phase 1050, the construction robot 10 can roughly localize itself based on the determined data. In particular, it can verify that it is located in the correct construction site section 210, i.e., the section where the target position 226 is supposed to be located.

[0087] If it finds itself in the wrong part of the construction site, it is conceivable that either a warning signal will be issued and / or that the construction robot 10 will move to the correct or at least to a different part of the construction site. In variants of method 1000, the construction robot 10 can select the appropriate direction for movement based on the data obtained from the two image recordings in conjunction with the GIS data. In this case, method 1000 can continue with phase 1010.

[0088] In the variant shown here, process 1001 comprises phases 1020 to 1050.

[0089] Phases 1020 to 1050 can be carried out, in particular, by the localization device 32 integrated into the construction robot 10. However, in a variant of the methods 1000, 1001, it is conceivable that the localization device 32 represents a standalone device, for example in the form of a smartphone or tablet computer, and thus carries out the method 1001 independently.

[0090] In a next phase 1060, the construction robot 10 finely localizes the target position 226 as soon as it is located in the correct construction site section 210. This can be done, for example, with the aid of the total station 222. To do this, the construction robot 10 and / or the localization device 32 can, for example, relocate the total station 222, if it is not yet located in the correct construction site section 210, or position it there. Alternatively, this can also be done manually. With the aid of the total station 222, the target position 226 can then be determined by aiming with the laser beam 224 with reference to one or more calibration positions, which can have been previously measured relative to a planning coordinate system in which the target position 226 is defined. The target position 226 can be marked by the total station 222 using its laser beam 224.

[0091] The construction robot 10 can then perform a desired construction work in a phase 1070 at the coarsely and finely localized target position 226 marked by the laser beam 224. If necessary, it can select a suitable tool or machine tool from the tool changer 34 and use it to perform the construction work. For example, in the case of drilling work, it can drill a borehole at the target position 226. It is also conceivable that the execution of the construction work is logged and the corresponding log data is transferred, for example, to a remote accounting system.

[0092] List of reference symbols

[0093] 10 construction robots

[0094] 12 mobile platform

[0095] 14 housings

[0096] 16 Control room

[0097] 17 Lifting device

[0098] 18 Robot arm

[0099] 19 Arm

[0100] 20 End effector

[0101] 21 Exchange interface

[0102] 22 Machine tool

[0103] 24 Camera

[0104] 26 Cleaning device

[0105] 27 Control

[0106] 28 storage unit

[0107] 29 processor

[0108] 30 Computer program product

[0109] 32 Localization device

[0110] 34 tool changers

[0111] 200 construction site

[0112] 210 construction site section

[0113] 212 windows

[0114] 213 Area

[0115] 214 Mountains

[0116] 216 Sun

[0117] 217 Sunlight

[0118] 218 Wall

[0119] 220 Identification marking

[0120] 222 Total Station

[0121] 224 laser beam

[0122] 226 Target position

[0123] 227 GIS data

[0124] 228 Wall 29 Building 30 Direction of incidence

[0125] 1000 procedures

[0126] 1001 Procedure 1010 Phase

[0127] 1020 phase

[0128] 1030 phase

[0129] 1040 phase

[0130] 1050 Phase 1060 Phase

[0131] 1070 phase

Claims

Patent claims 1. Method (1001) for locating a target position (226), in particular a working position, a position of a construction robot (10) or a position of a portable device, on a construction site (200), for example a building construction site (200) or a civil engineering construction site (200), by means of a locating device (32), wherein the locating device (32) roughly localizes the target position (226), that is to say determines a construction site part (210) of the construction site (200) in which the target position (226) is located.

2. Method according to the preceding claim, characterized in that the localization device (32) evaluates, in particular reads, an identification marking (220) identifying the construction site part (210).

3. Method according to one of the preceding claims, characterized in that the localization device (32) evaluates at least one signal originating from outside the construction site part (210), in particular from outside the construction site (200), for the rough localization.

4. Method according to one of the preceding claims, characterized in that the localization device (32) evaluates at least one natural signal for rough localization.

5. Method according to one of the preceding claims, characterized in that the natural signal is based on the earth's magnetic field.

6. Method according to one of the preceding claims, characterized in that the natural signal is based on air pressure.

7. Method according to one of the preceding claims, characterized in that the natural signal is based on light, in particular light originating from space such as sunlight (217), moonlight and / or other starlight.

8. Method according to one of the preceding claims, characterized in that the signal is based on a direction of incidence (230) of the light.

9. Method according to one of the preceding claims, characterized in that the localization device (32) uses GIS data (227) for rough localization.

10. Method (1000) for carrying out construction work on a construction site (200) at a target position (226), for example a building construction site (200) or a civil engineering construction site (200), by a construction robot (10), wherein a localization device (32) roughly localizes the target position (226) using the method (1001) according to one of the preceding claims, that is to say determines a construction site part (210) of the construction site (200) in which the target position (226) is located, wherein coordinates of the target position (226) are determined relative to the construction site part (210) or to the construction site (200), and wherein the construction robot (10) carries out the construction work at the target position (226).

11. Method (1000) according to the preceding claim, wherein the construction robot (10) selects at least one construction work to be carried out from a database.

12. Method (1000) according to one of the two preceding claims, characterized in that the construction robot (10) selects the construction work to be carried out on the basis of the construction site part (210) determined by the coarse localization.

13. Localization device (32) for locating a target position (226), which is configured to carry out the method (1000) according to one of claims 1 to 9.

14. A computer program product (30) which, when executed on the localization device (32) according to the preceding claim, is configured to execute the method (1000) according to any one of claims 1 to 9.

15. A construction robot (10) for performing construction work on a construction site (200) at a target position (226), comprising a mobile platform (12), a robot arm (18) with an end effector (20) and a localization device (32) according to claim 13.

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