Construction-site robot and method for operating a construction-site robot

Abstract

The invention relates to a construction-site robot (10) having: an autonomous movement unit (12); a holding unit (14) at least for holding at least one processing unit (16), in particular a working unit (26); a sensor unit (18); and at least one output unit (20) for outputting at least one notification. According to the invention, the output unit (20) is provided to output the notification according to a hazard parameter determined at least by means of the sensor unit (18) and / or according to a movement parameter determined at least by means of the sensor unit (18).

Description

[0001] Description

[0002] title

[0003] Construction robot and method for operating a construction robot

[0004] State of the art

[0005] Remote-controlled drilling robots have already been proposed that can indicate a direction of movement specified by the remote control. Furthermore, the use of a rotating warning light and an acoustic signal to emit a constant, in particular unchanging, warning signal during operation of a robot, for example, an industrial robot, is known.

[0006] Disclosure of the invention

[0007] The invention is based on a construction site robot with an autonomous movement unit, with a holding unit at least for holding at least one process unit, in particular a machining unit, with a sensor unit and with at least one output unit for outputting at least one instruction.

[0008] It is proposed that the output unit is provided to output the information as a function of a hazard characteristic determined at least by means of the sensor unit and / or a movement characteristic determined at least by means of the sensor unit.

[0009] Such a construction site robot can advantageously increase safety on a construction site, in particular by advantageously transmitting the hazard characteristic and / or the movement characteristic to an output environment of the construction site robot. In particular, a collision between the construction site robot and a person and / or an object within the output environment can advantageously be avoided. The notification issued by the output unit is advantageously adaptable, particularly depending on the situation, whereby an urgent notification can be perceived as more conspicuous by the person in the output environment and can, in particular, contain situation-specific information.This can further increase safety, particularly in contrast to a fixed warning to which the person in the output environment on the construction site may be exposed for a long time, for example, a continuous beeping during operation of a construction site robot, which the person may habitually ignore. Furthermore, a dangerous situation can be registered and localized more easily, particularly when multiple machines and / or robots generating warning signals are used on a construction site. Advantageously, an acute dangerous situation can be output based on the hazard characteristic and / or information about a future dangerous situation, particularly based on the movement characteristic, based on the warning.

[0010] The construction robot is, in particular, an at least partially autonomous robot for use, in particular for processing and / or transport, on a construction site. The construction robot is, in particular, intended for at least partially automatic processing of an object to be processed and / or for transporting and / or aligning the process unit for processing. The construction robot is preferably intended to at least process the object to be processed according to a processing plan and / or to transport the process unit according to the processing plan and / or to align it relative to the object to be processed. The construction robot is preferably intended for fully automatic processing of the object to be processed and / or fully automatic alignment of the process unit relative to the object to be processed.The movement unit and preferably the holding unit and / or the processing unit are preferably each provided for automatic alignment. Alternatively, the processing unit and / or the holding unit can be controlled, for example, at least partially by means of a remote control, for example by a user. The output unit is particularly provided to output the instruction to an output environment of the construction site robot, in particular to at least one person in the output environment of the construction site robot. The output environment is particularly formed from a set of positions in which the instruction can be received, in particular by the person. Preferably, each position in the output environment has visual contact with the output unit and / or is located within earshot of the output unit. The output environment is particularly part of a construction site.A "construction site" is understood, in particular, to be a location and / or environment where a construction project is being carried out. The construction site can, for example, comprise an entire structure, in particular an entire building, and / or be located on at least one floor and / or in at least one room and / or in the vicinity of at least the object to be processed with the process unit. The construction site can be a commercial or private construction site.

[0011] The construction site robot is designed differently from a stationary construction site robot, in particular a stationary industrial robot. The construction site robot is intended to move autonomously and, in particular, independently by means of the locomotion unit. In particular, the construction site robot is designed as a mobile construction site robot. The construction site robot is preferably designed to be mobile. Alternatively, however, it is also conceivable for the construction site robot to be designed as a drone or as a floating vehicle. The locomotion unit has, in particular, a chassis. The locomotion unit, in particular the chassis, has, 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 construction site robot preferably has the movement unit for moving the holding unit and / or the process unit, in particular with respect to the construction site. The movement unit is in particular intended to move the holding unit and / or the process unit on a surface, for example a floor, a wall and / or a ceiling. The movement unit is preferably intended to move the construction site robot as a whole over the surface. The holding unit is preferably arranged on, preferably on, the movement unit. The holding unit is preferably fixedly connected to the movement unit and in particular arranged at least partially above the movement unit.Preferably, a connection point between the holding unit and the movement unit is arranged on an upper side of the movement unit. The holding unit is preferably designed to be at least partially movable, in particular relative to the movement unit. Preferably, the holding unit is at least partially movable at least in one direction parallel to a direction of gravity, in particular in a direction at least substantially perpendicular to a direction of movement of the movement unit. Preferably, the process unit can be aligned by means of the movement unit and the holding unit relative to the object to be processed, in particular at least in at least partially different directions. The holding unit can be designed to be movable only in one direction at least substantially parallel to the direction of gravity.The term “essentially parallel” is to be understood here in particular as an orientation of a direction relative to a reference direction, in particular in a plane, wherein the direction has a deviation from the reference direction in particular of less than 8°, advantageously less than 5° and particularly advantageously less than 2°. The expression “essentially perpendicular” is to be understood here in particular as an orientation of a direction relative to a reference direction, wherein the direction and the reference direction, in particular viewed in a projection plane, enclose an angle of 90° and the angle has a maximum deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°. Alternatively or additionally, the holding unit can be designed to be movable, for example, in at least one direction, in particular in a plane, at least essentially perpendicular to the direction of gravity.The holding unit preferably has a support surface and / or a platform for holding the process unit. The holding unit is preferably designed as a lifting unit, which in particular is designed at least partially as a lifting platform. Alternatively, the holding unit can be designed as another unit that appears appropriate to a person skilled in the art and is movable at least one-dimensionally relative to the movement unit, for example as a manipulator unit, in particular designed as a robot arm. Alternatively, it would be conceivable for the holding unit to be static, for example in the form of a static support surface and / or platform. The holding unit is preferably firmly connected and / or connectable to the process unit of the construction site robot to hold the process unit. The process unit is preferably connected to the movement unit via the holding unit, at least in a held state.The process unit can be connected and / or connectable to the movement unit at least partially movable relative to the movement unit, in particular via the holding unit, and can be designed to be movable relative to the holding unit, for example. The process unit can, for example, have a manipulator unit, in particular a robot arm, for movement relative to the holding unit. Preferably, the process unit is fixed and / or fixable to the holding unit. The holding unit preferably has a fastening unit for fastening the process unit. Alternatively, it would be conceivable for the holding unit to be provided merely for setting up the process unit on the holding unit free from any further fixation. The term “holding” should be understood in particular to mean “connecting”, preferably “carrying” and / or “fixing”.

[0012] The construction site robot can have the process unit, in particular the machining unit. The process unit is preferably provided for carrying out at least one process, in particular for machining, on the object to be machined. The object is preferably a building part, for example a wall, a floor, a facade or the like. The object is particularly preferably 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 part, for example a particularly fixed, preferably stationary, piece of furniture or the like. The construction site robot is preferably designed as a drilling robot. The process unit, in particular the machining unit, is preferably designed as a drilling unit.Alternatively, however, it is also conceivable for the construction robot to be designed as a construction site robot which is different from a drilling robot, for example as a sawing robot, as a grinding robot, as a robot for driving in brackets, as a painting robot, as a spraying robot, as a robot for drywall work, for example as a grouting robot or a smoothing robot, or the like, as a combination of these or as another construction site robot which appears appropriate to the person skilled in the art. The process unit can in particular be designed as a corresponding sawing unit, grinding unit, impact unit, painting unit, spraying unit, a grouting unit, a smoothing unit or the like. The process unit preferably has at least one tool unit which can in particular be designed as an end effector.The process unit preferably has more than one degree of freedom for moving the tool unit, in particular relative to the movement unit and / or the mounting unit. The tool unit preferably comprises a tool and / or a handheld power tool. The component robot preferably has sufficient degrees of freedom for free positioning and / or orientation of the tool unit, in particular relative to the object to be processed.

[0013] Alternatively, the construction site robot can be designed independently of the process unit and, in particular, can be provided with a detachable connection to the process unit for transporting the process unit and / or for carrying out the process, in particular machining, by means of the process unit. For example, the construction site robot can be provided with a connection to various interchangeable process units. Preferably, the holding unit for holding the process unit can be connected to the process unit, in particular detachably. In this context, “detachably” should be understood to mean, in particular, “non-destructively separable”. The process unit can be fixable to the holding unit or merely be provided to be placed on the holding unit. The holding unit can, in particular, be designed as a carrier unit for carrying the process unit, in particular various process units.

[0014] A “characteristic variable” should be understood in particular to mean at least one parameter and / or value which at least characterizes another variable, wherein the hazard characteristic variable characterizes in particular a hazard risk and the movement characteristic variable characterizes a movement of at least part of the construction site robot, in particular the locomotion unit and / or the mounting unit. The movement characteristic is preferably based on a planned and / or existing movement speed and / or direction of movement, which can be determined in particular by means of the sensor unit, of at least part of the construction site robot, in particular the locomotion unit and / or the mounting unit. The movement characteristic can in particular characterize a trajectory of the construction site robot. A “trajectory” should be understood in particular to mean an executed and / or a planned trajectory.Preferably, the planned, in particular a predicted, direction of movement and / or speed of movement of the movement unit and / or the holding unit can be determined, in particular set, based on the existing speed of movement and / or direction of movement of the movement unit and / or the holding unit, and / or the processing plan and / or a position and / or speed of the person and / or the object, in particular relative to the construction site robot, in a detection environment of the construction site robot. The hazard parameter preferably characterizes the hazard risk with regard to a collision risk of the person and / or the object in the detection environment with the construction site robot, and / or with regard to maintaining or falling below a safety distance of the person and / or the object from the construction site robot, in particular during operation of the process unit.The detection environment is, in particular, an environment of the construction site robot, in particular of the sensor unit, which the sensor unit takes into account for determining the hazard parameter and / or the movement parameter. The detection environment is preferably at least part of the output environment. The output unit is, in particular, provided to output the notification to at least one detected person in the detection environment and / or to at least one further person in the output environment, for example outside the detection environment or in the detection environment, in particular for independent securing of the detected person, in particular by means of a trajectory change and / or position change, and / or for securing of the detected person and / or the object in the detection environment by the further person in response to the notification.Injury to a person and / or damage to an object in the detection environment and / or to the construction site robot during movement of the construction site robot and / or during operation of the process unit can advantageously be avoided. The hazard characteristic characterizes, in particular, at least one hazardous state and at least one safety state, wherein the indication in the hazardous state is designed, in particular, as a warning and, in the safety state, indicates, in particular, safe operation of the construction site robot. At least in the safety state, the indication can comprise at least one further piece of information in addition to the hazard characteristic and, in particular, the movement characteristic.The further information can, for example, characterize an operating state of the process unit and / or a maintenance state of the construction site robot and / or the process unit, wherein the maintenance state indicates in particular a required intervention, for example by indicating a full dust bag of the construction site robot and / or the process unit, or the like. The danger state and the safety state can preferably be determined using the danger parameter. The danger parameter, in particular the danger state and the safety state, can preferably be determined as a function of a distance of the person and / or the object in the detection environment from the construction site robot. The danger state is in particular a state in which the distance of the person and / or the object in the detection environment is less than or equal to at least one distance limit value.The safety state is, in particular, a state in which the detection environment is free of the person and / or the object and / or the distance of the person and / or the object in the detection environment from the component robot is greater than the distance limit. The distance limit can be stored as a fixed value. Alternatively, the distance limit can be adjustable depending on the movement characteristic, in particular the movement speed and / or the trajectory of the movement unit, and / or the speed and / or a trajectory of the person and / or the object and / or an operating state of the process unit, in particular by means of a control unit.The distance limit may, for example, depend on a configuration of the process unit, in particular with regard to the process to be performed by the process unit, and / or on at least one safety regulation and / or safety standard, whereby the distance limit could, for example, differ for an application of the construction site robot in different countries. Preferably, the hazard characteristic is based on at least one environmental parameter, in particular with regard to the person and / or the object in the detection environment, and / or the movement characteristic and / or the trajectory of the construction site robot, in particular the planned and / or existing movement speed and / or movement direction of the movement unit and / or the mounting unit, and / or on an operating state of the process unit.

[0015] In this context, a “sensor unit” should be understood to mean, in particular, a unit that is intended to record at least one parameter and / or a physical property. The sensor unit preferably has at least one position sensor and / or at least one speed sensor, whereby at least one position of the construction robot on the construction site and / or the movement speed and / or the trajectory of the construction robot on the construction site can be determined, in particular for determining at least the movement parameter. The sensor unit is preferably intended to provide at least one measured value for determining at least the environmental parameter, based on which at least the hazard parameter and in particular the movement parameter can be determined.The environmental parameter specifies, in particular, at least one position of the person and / or the object in a detection environment of the construction site robot, and in particular the distance of the person and / or the object from the construction site robot and / or the trajectory of the person and / or the object in the detection environment. Preferably, the environmental parameter and / or the hazard parameter and / or the movement parameter can be determined based on at least one SLAM (Simultaneous Localization and Mapping) algorithm.The sensor unit preferably has at least one camera sensor, for example a camera sensor for recording in the visible spectral range and / or an IR camera sensor and / or a radar camera sensor, in particular at least one stereo camera sensor, and / or at least one lidar sensor and / or at least one ultrasonic sensor and / or at least one GPS sensor and / or at least one further sensor deemed appropriate by a person skilled in the art, in particular known for determining at least one measured value for use in a SLAM algorithm. The determination environment can, for example, comprise at least one field of view of the at least one camera sensor.The construction robot preferably has a control unit for determining, in particular for calculating, the environmental parameter and / or the hazard characteristic and / or the movement characteristic and / or the position and / or trajectory of the construction robot based on the at least one measured value measured by the sensor unit, wherein the control unit can use, in particular, at least one standard algorithm and / or a KL algorithm for the determination. For example, a position of a person in the determination environment can be determined using a standard algorithm and a predicted trajectory of the person can be determined using a KL algorithm. Preferably, the control unit is provided for executing the SLAM algorithm, in particular for determining the environmental parameter and / or the hazard characteristic and / or the movement characteristic. The distance limit value can be stored on the control unit.The control unit is preferably designed to determine the warning based on the measured value and, in particular, to output the warning via the output unit. The warning is adjustable and / or variable, in particular, based on the hazard characteristic and / or the movement characteristic. The control unit is preferably designed to adapt the warning depending on the hazard characteristic and / or the movement characteristic and, in particular, to output it via the output unit.

[0016] "Intended" should be understood as specifically programmed, designed, and / or equipped. The fact that an object is intended for a specific function should be understood as meaning that the object fulfills and / or performs this specific function in at least one application and / or operating state.

[0017] It is further proposed that the notice comprise at least one optical signal, wherein the output unit is provided to output a color and / or a pattern of the optical signal depending on the hazard characteristic. Advantageously, the notice can identify the hazard characteristic in a manner that is particularly quickly understandable and / or visible from a wide distance for a person in the output environment. In particular, a change in the notice depending on the hazard characteristic is advantageously simple and / or quick to understand. Preferably, the control unit is provided to adapt the color and / or pattern of the optical signal depending on the hazard characteristic and to output it by means of the output unit. The pattern and / or the color can be adjusted in particular depending on the hazard characteristic.When adjusting the color of the optical signal, it is particularly conceivable to adjust a hue and / or color saturation or the like. The output unit preferably has at least one display unit, which in particular has at least one display and / or at least one lighting element, for example a lamp and / or a bulb, for outputting the optical signal. The output unit, in particular the display unit, could, for example, have a rotating warning light, which can in particular output the variable optical signal. The display unit is preferably arranged on each side of the construction site robot, in particular at least on each side extending at least substantially parallel to the direction of gravity, in particular for an all-round output around the construction site robot to the output environment.Advantageously, the indication, in particular the optical signal, is visible in every direction, in particular at least in a plane at least substantially perpendicular to the direction of gravity, around the construction site robot, thereby increasing safety. The display unit is preferably arranged on the movement unit and / or the mounting unit, in particular in and / or on a housing of the movement unit and / or the mounting unit, and / or mounted on the process unit. The output unit, in particular the display unit, is preferably provided to display the optical signal on the construction site robot, in particular directly on the display unit.Alternatively or additionally, it is conceivable that the output unit, in particular the display unit, is provided to project the optical signal onto an environment of the construction site robot, for example onto a floor and / or onto a ceiling around the construction site robot and / or onto an outer surface of the construction site robot. Preferably, the output unit, in particular at least the display unit, is packaged, preferably for use of the construction site robot underwater and / or in an area at risk of explosion. The output unit, in particular at least the display unit, is preferably accommodated in a waterproof and / or explosion-proof, in particular transparent, casing. The pattern can comprise text and / or at least one shape and / or at least one symbol and / or at least one pictogram.The output unit can be provided to output an intensity and / or brightness of the optical signal depending on the hazard characteristic. Preferably, the control unit is provided to adjust the intensity and / or brightness of the optical signal depending on the hazard characteristic and to output it via the output unit. Preferably, the intensity and / or brightness of the optical signal in the hazard state is / are increased compared to the intensity and / or brightness of the optical signal in the safety state.

[0018] In the dangerous state, the pattern of the optical signal is preferably adaptable to a warning pattern, which in particular comprises a warning symbol and / or warning text known to those skilled in the art and / or a known shape for a warning, for example a stop sign shape. It is further proposed that the output unit is provided to adapt at least one color of the optical signal to a warning color based on a dangerous state, in particular the one mentioned above, determined using the dangerous characteristic. Advantageously, the indication can identify the dangerous characteristic in a manner that is particularly impressive and, in particular, intuitively understandable for the person in the vicinity. In particular, the indication can have a signal coding of the indication that is understandable regardless of culture and language.A warning color is to be understood in particular as a signal color that is noticeable to humans, in particular with a red, orange or yellow hue. The warning color can have a saturation that is increased compared to a color of the optical signal in a safety state. For example, the output unit can be provided to increase at least a saturation of the color output by the output unit in the danger state. Preferably, the output unit is also provided to output the optical signal in the safety state, wherein the optical signal in the safety state has in particular a color different from a warning color, for example white and / or green and / or blue and / or another warm or cold neutral color that appears appropriate to a person skilled in the art. Alternatively, it would be conceivable for the output unit to be provided only to output the optical signal in the danger state.The hazard state can comprise only one adaptation of the indication relating to the safety state, for example, only an adaptation of the pattern and / or the color of the optical signal. Alternatively, the hazard state can comprise multiple adaptations of the indication, each of which can be assigned to a hazard sub-state. Preferably, the hazard state comprises more than one hazard sub-state, each of which is assigned to at least one different indication and, in particular, a different distance limit value. Preferably, the hazard parameter identifies the respective hazard sub-state. For example, the hazard state can comprise a near hazard sub-state and a medium hazard sub-state and / or an outer hazard sub-state, wherein a value of the respective distance limit value decreases from the outer hazard sub-state to the medium hazard sub-state and the near hazard sub-state in the stated order.In particular, the object and / or person are / are located in an outer area of ​​the detection environment in the outer danger sub-state, in a close area of ​​the detection environment in the near danger sub-state, and in a middle area of ​​the detection environment in the middle danger sub-state, which is located in particular between the outer area and the close area, with respect to the construction site robot. The warning color can have a different color and / or warning color in different danger sub-states. For example, the color of the optical signal can have a traffic light color depending on the hazard parameter, wherein the warning color can take on a yellow and / or orange color in the middle danger sub-state, and a red color in the near danger sub-state.

[0019] It is also proposed that the warning comprise at least one acoustic signal, wherein the output unit is provided to output the acoustic signal only in a dangerous state, in particular the one mentioned above, determined on the basis of a dangerous parameter, in particular the one mentioned above. Desensitization of the person in the output environment with regard to the acoustic signal, in particular a warning signal, can advantageously be avoided by constantly outputting the acoustic signal during operation of the construction site robot. In particular, the dangerous state can be indicated particularly clearly. Furthermore, a noise level on the construction site, in particular in the output environment, can advantageously be reduced if the acoustic signal is only output in the dangerous state.Advantageously, an approaching construction robot can be located particularly reliably, wherein the onset of the acoustic signal when the construction site robot approaches the person and / or the object is particularly more noticeable than merely a constantly emitted acoustic signal becoming louder due to the approach. Furthermore, the acoustic signal provides the indication according to a further type of perception, wherein the indication can be issued to the person in the output environment even if there is no visual contact with the construction site robot, and in particular with the display unit. Preferably, the output unit, in particular the control unit by means of the output unit, is provided to output the acoustic signal only in a partial danger state, for example with a smallest distance limit value, in particular only in the near partial danger state.Advantageously, the acoustic signal can be used to particularly clearly indicate the imminent danger partial state. The acoustic signal is preferably fixed. Alternatively, it is conceivable for the output unit to be provided to output the acoustic signal in more than one danger partial state, in particular in the entire danger state. The acoustic signal can be adjustable and, in particular, can be designed differently in the various danger partial states. Preferably, the output unit is provided to output the acoustic signal for identifying the hazard parameter, in particular the danger state, only in the danger state, wherein a further acoustic signal, in particular for identifying the movement parameter, can also be output, for example, in the safety state.The acoustic signal is preferably a signal, in particular only, relating to the hazard characteristic, wherein the indication may comprise the further acoustic signal, in particular only, relating to the movement characteristic.

[0020] Alternatively, it is conceivable for the acoustic signal to also be output in the safety state, with the acoustic signal being designed differently in the safety state and in the danger state. It is further proposed that the output unit is provided to output the warning at an output frequency that depends on the danger parameter. Advantageously, a dangerous situation can be understood particularly intuitively and / or quickly by the person in the output environment using the warning. The output frequency is in particular a frequency of a repeated output of the warning, in particular of the optical and / or acoustic signal. The output frequency is in particular a frequency of a pulsating intensity of the optical and / or acoustic signal.The output frequency is preferably a frequency of the optical signal, in particular a flashing and / or pulsing of the optical signal, and / or of the acoustic signal, in particular a beeping of the acoustic signal. The output unit is preferably provided to output the output frequency in the danger state, in particular at an increased level compared to an output frequency in the safety state. The output unit is preferably provided to output the output frequency for a danger sub-state, which is assigned a smaller distance limit value compared to a distance limit value of another danger sub-state, at an increased level compared to an output frequency of the other danger sub-state.Preferably, the output unit is provided to increase the output frequency for a decreasing determined distance of the person and / or the object in the detection environment, in particular with an output frequency that can be continuously or discretely adjusted with respect to the determined distance. In the dangerous state and / or in the safe state, the output frequency can have a value according to a standard, for example according to a standard DIN EN 842:2009-01, "Safety of Machinery" or the like, in which, for example, a frequency of 2 Hz to 3 Hz is recommended for a dangerous state. Alternatively, however, another value for the output frequency that appears reasonable to a person skilled in the art is also conceivable.

[0021] It is further proposed that the construction robot have a control unit, in particular the one mentioned above, wherein the control unit is provided to adapt a control parameter for controlling the movement unit and / or the support unit depending on the hazard characteristic. This can particularly advantageously increase safety. Preferably, the control unit is provided to adapt the control parameter, depending on the hazard characteristic, to an emergency stop and / or to a throttling, in particular a braking, and / or to an acceleration, in particular of the movement unit and / or the support unit.The control unit is provided, in particular, for adapting the control parameter, in particular for an emergency stop, in an emergency state in which the distance between the person and / or the object in the detection environment and the construction site robot is less than a distance emergency limit and / or in which a predicted trajectory of the construction site robot and the person and / or the object in the detection environment predicts a collision after a time window that is, in particular, shorter than a typical reaction speed of the person. The distance emergency limit is preferably less than the distance limit of the hazardous state and preferably less than or equal to the distance limit of the near hazardous sub-state.

[0022] It is also proposed that the indication contain information relating to a planned and / or existing movement of the movement unit and / or the holding unit. The information is based in particular on the movement characteristic. Safety can advantageously be increased, in particular by informing a person in the detection environment of the direction of movement of the construction site robot, whereby the person can advantageously avoid a collision with the construction site robot and / or prevent a collision of another person and / or an object in the detection environment with the construction site robot. The output unit is preferably provided for outputting the direction of movement and / or the movement speed of the movement unit and / or the holding unit. The information relating to the movement is preferably based on the movement characteristic.The indication, in particular the information, relating to the movement, for a resting state of the construction site robot, in particular of the movement unit and / or the holding unit, preferably differs from an indication, in particular information, for a movement state of the construction site robot, in particular of the movement unit and / or the holding unit. The indication, in particular the information relating to the movement, preferably differs for a constant direction of movement, in particular straight ahead travel of the movement unit, and for a change in the direction of movement, in particular turning of the movement unit. The indication, in particular the information relating to the movement, preferably differs for upward travel, in particular raising, of the holding unit, and for downward travel, in particular lowering, of the holding unit.The instruction preferably indicates straight-ahead travel and / or turning and / or resting of the movement unit and / or raising and / or lowering and / or resting of the support unit. The planned movement is preferably a movement which, after output at the output unit, is executed within a time interval of a maximum of 30 s, preferably a maximum of 20 s, particularly preferably a maximum of 15 s, advantageously 10 s and particularly preferably a maximum of 5 s. For example, the instruction can indicate an existing movement, wherein the output unit is provided to output the instruction adapted for a planned change in the movement before the change in the movement, for example before the construction site robot starts moving and / or turns and / or brakes.Alternatively, it is conceivable for the indication to indicate the present and planned movement simultaneously, for example by means of two different display units, one of the display units being provided for outputting the present movement and the other display unit being provided for outputting the planned movement and / or by means of the output of the present movement by means of the optical signal of the indication and the output of the planned movement, in particular a planned change in movement, by means of the further acoustic signal of the indication, for example a double beep before the change in movement or the like. Alternatively, it is conceivable for only the present movement or only the planned movement to be output, in particular at least at the same time.

[0023] It is further proposed that the component robot comprise at least the process unit and one control unit, in particular the one mentioned above, wherein the control unit is provided to adapt a control parameter for controlling the process unit as a function of the hazard characteristic. Safety can advantageously be increased, in particular by reducing the risk of injury to a person in the vicinity of the process unit and / or the risk of damage to the process unit. The control unit can be provided, in particular as a function of the hazard characteristic, to adapt the control parameter to an emergency stop and / or to throttle the process unit.

[0024] It is further proposed that the output unit comprise a running light unit and / or a matrix light unit, in particular at least for outputting the movement characteristic. Preferably, a movement of the construction site robot can advantageously be displayed, which in particular can increase safety. The running light unit and / or the matrix light unit are / is preferably provided for outputting the direction of movement and / or the speed of movement of the movement unit and / or the holding unit. The display unit preferably comprises the running light unit and / or the matrix light unit. The running light unit and / or the matrix unit comprise, in particular, a plurality of independently controllable lighting elements, preferably LED lighting elements.LED lighting elements are particularly multi-colored and cost-effective and can, in particular, form the running light unit and / or the matrix unit particularly flexibly in any desired dimensions. The running light unit and / or the matrix unit preferably has / has at least one lighting element strip, in particular an LED strip. It is conceivable that the running light unit and / or the matrix unit has / has at least one display. The running light unit is preferably provided for displaying at least one, in particular one-dimensional, direction. The matrix unit is preferably designed as a 2D matrix, in particular an LED 2D matrix. The output unit is preferably provided for outputting a running light to display the direction of movement of the locomotion unit and / or the mounting unit.A speed of the running light preferably indicates the movement speed of the movement unit and / or the mounting unit. The running light unit and / or the matrix light unit can be provided for outputting the hazard characteristic, for example, through the output frequency, in particular a flashing frequency, of the running light and / or a color of the running light. Alternatively or additionally, the display unit of the output unit can have at least one further light unit, in particular different from the running light unit and / or the matrix light unit, which is provided for outputting the hazard characteristic, for example, by means of a pattern of the optical signal.

[0025] In addition, a method for operating a construction site robot, in particular the one mentioned above, with an autonomous movement unit, in particular the one mentioned above, is proposed, wherein an indication, in particular the one mentioned above, is output by means of at least one output unit, in particular the one mentioned above, of the construction site robot, wherein the indication is output by means of the output unit as a function of a hazard parameter, in particular the one mentioned above, determined at least by means of a sensor unit, in particular the one mentioned above, and / or of a movement parameter, in particular the one mentioned above, determined at least by means of a sensor unit, in particular the one mentioned above,. Safety can advantageously be increased, in particular during movement of the movement unit and / or during operation of the process unit.

[0026] The method preferably comprises a method step, in particular a measuring step, in which at least one measured value of the sensor unit is measured. In a further method step, in particular a determination step, of the method, which in particular takes place after the measuring step, the hazard parameter and / or the movement parameter are / is preferably determined. Preferably, in the determination step, at least one, in particular the above-mentioned, distance and / or one, in particular the above-mentioned, trajectory of a, in particular the above-mentioned, person and / or of an, in particular the above-mentioned, object, in particular with regard to the construction site robot, in a, in particular the above-mentioned, determination environment are / is determined.Alternatively or additionally, in the determination step, a direction of movement, in particular the above-mentioned, and / or a speed of movement, in particular the above-mentioned, of the construction site robot, in particular of the locomotion unit, and / or an operating state, in particular the above-mentioned, of the process unit can be determined. In the determination step, the hazard parameter and / or the movement parameter are / is preferably determined, in particular by means of the control unit, in particular based on the at least one measured value, in particular based on the distance and / or trajectory of the person and / or the object and / or the speed and / or trajectory of the construction site robot. In the determination step, to determine the hazard parameter, preferably at least one stored distance limit value, in particular the above-mentioned, is compared with at least one determined distance.In the determination step, the hint is preferably generated and / or adapted. The method preferably comprises at least one further method step, in particular an output step, in which the hint is output by means of the output unit.

[0027] The construction site robot and the method for operating the construction site robot are not intended to be limited to the application and embodiment described above. In particular, the construction site robot and the method for operating the construction site robot may have a number of individual elements, components, units, and method steps that differs from the number stated herein to fulfill a functionality described herein. Furthermore, within the value ranges specified in this disclosure, values ​​within the stated limits are also considered disclosed and can be used arbitrarily.

[0028] drawing

[0029] 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.

[0030] They show:

[0031] Fig. 1 A schematic representation of a component robot with an output unit,

[0032] Fig. 2 is a schematic representation of part of a running light unit of the output unit and Fig. 3 is a flow chart of a method for operating the construction site robot.

[0033] Description of the embodiment

[0034] Figure 1 shows an at least partially automated construction site robot 10 with an autonomous movement unit 12. The construction site robot 10 is intended for use on a construction site (not shown). The movement unit 12 is intended for movement of the construction site robot 10 on the construction site, in particular relative to an object to be processed (not shown) on the construction site.

[0035] The propulsion unit 12 is designed to be mobile; however, it would also be conceivable for the construction robot 10 to be designed as a drone or a floating vehicle. The propulsion unit 12 has a chassis 60. In this case, the chassis 60 is designed as a tracked unit.

[0036] The component robot 10 has a support unit 14. The support unit 14 is mounted on the movement unit 12. The support unit 14 is designed to be at least partially movable relative to the movement unit 12. The support unit 14 has at least one platform 56.

[0037] The support unit 14 is embodied here as a lifting unit 54, wherein the platform 56 of the lifting unit 54 is movable relative to the movement unit 12, in particular up and down. The support unit 14 has a lifting axis element 58, which is provided for moving the platform 56. The platform 56 is movable along the lifting axis element 58.

[0038] Alternatively, the holding unit 14 can be designed as another unit that appears appropriate to the person skilled in the art, which is movable or static relative to the movement unit 12.

[0039] The support unit 14 is provided at least for holding at least one process unit 16. The platform 56 is provided for holding the process unit 16. The process unit 16 is connected to the movement unit 12 via the support unit 14. The process unit 16 is movable relative to the movement unit 12 at least by means of the support unit 14. The process unit 16 is fixed to the support unit 14, at least in an assembled state.

[0040] The processing unit 16 is designed as a processing unit 26. The processing unit 16 is intended for processing the object to be processed. The movement unit 12 is intended for transporting the support unit 14 and the processing unit 16 and aligning them with respect to the object to be processed. The support unit 14 is intended for aligning the processing unit 16 with respect to the object to be processed.

[0041] Figure 1 shows an exemplary embodiment of the process unit 16. The process unit 16 is designed to be at least partially movable, in particular relative to the holding unit 14. The process unit 16 has a manipulator unit 50. The manipulator unit 50 is designed, for example, as a robot arm. The process unit 16 has a tool unit 52, which contacts the object to be processed for processing. The tool unit 52 can be aligned by means of the manipulator unit 50. The process unit 16 is designed, for example, as a drilling unit for creating drill holes (not shown) in the object to be processed. The object to be processed can be designed, for example, as a building part, for example as a ceiling, a wall, a floor, a facade or the like.

[0042] Alternatively, another design of the process unit 16 that would appear appropriate to a person skilled in the art would be conceivable, for example free of the manipulator unit 50 or with a differently designed manipulator unit 50 and / or tool unit 52, in particular for a different processing purpose, for example for sawing or grinding or driving in holders or painting or the like.

[0043] The construction robot 10 in this case has the process unit 16. The construction robot 10 is intended to process the object to be processed at least partially automatically, in particular fully automatically. Alternatively, the construction robot 10 can be designed to be independent of the process unit 16 and, in particular, can be designed to form a detachable connection with the process unit 16 for transporting the process unit 16 and / or for carrying out the processing by means of the process unit 16. For example, the construction robot 10 can be designed to be connected to various interchangeable process units 16.

[0044] The construction site robot 10 has at least one output unit 20 for outputting at least one warning. The construction site robot 10 has a sensor unit 18. The output unit 20 is provided to output the warning depending on a hazard characteristic determined at least by means of the sensor unit 18 and / or a movement characteristic determined at least by means of the sensor unit 18. The output unit 20 is provided to output the warning to an output environment (not shown) around the construction site robot 10. The warning is adaptable based on the hazard characteristic and / or the movement characteristic.

[0045] The sensor unit 18 is provided for providing at least one measured value for determining at least one environmental parameter, based on which at least the hazard characteristic can be determined. The environmental parameter specifies at least one position of at least one person (not shown) and / or at least one object (not shown) relative to the construction site robot 10 in a detection environment around the construction site robot 10. The environmental parameter specifies at least a distance of the person and / or the object from the construction site robot 10 and / or an executed and / or predicted trajectory (not shown) of the person and / or the object in the detection environment.

[0046] The sensor unit 18 here has at least one camera sensor 28, in particular a stereo camera sensor, and at least one lidar sensor 48. The camera sensor 28 and / or the lidar sensor 48 are / is provided at least for determining the environmental parameter, in particular the hazard parameter, and / or for determining the movement speed and / or the movement direction, in particular the movement parameter, of the construction robot 10. The camera sensor 28 is here fixed to the platform 56. The lidar sensor 48 is here fixed to the platform 56. Alternatively, a different arrangement of the camera sensor 28 and / or the lidar sensor 48 on the construction robot 10 is conceivable. The sensor unit 18 has at least one further camera sensor (not shown) and at least one further lidar sensor 48 (not shown) for an all-round recording of the sensor unit 18 around the construction robot 10 by means of the sensor unit 18.Alternatively, the sensor unit 18 may comprise only the at least one lidar sensor or the at least one camera sensor 28. Alternatively or additionally, the sensor unit 18 may comprise further sensors that appear appropriate to a person skilled in the art, for example, an ultrasonic sensor and / or the like.

[0047] The movement characteristic characterizes an existing or planned movement of the movement unit 12 and / or the support unit 14. The movement characteristic can be determined based on the movement speed and / or the trajectory of the construction site robot 10.

[0048] The hazard parameter preferably indicates a hazard caused by a person and / or object falling below a distance threshold (not shown) in the detection environment. The distance threshold is designed, in particular, as a safety distance. The distance threshold can be constant or variable, in particular depending on an operating state of the process unit 16 and / or the environmental parameter and / or the movement parameter. The hazard parameter is based at least on the environmental parameter and / or the movement parameter and / or the operating state of the process unit 16.

[0049] The hazard parameter characterizes at least one hazardous state and at least one safety state. In the hazardous state, a distance (not shown) of the person and / or the object in the detection environment from the component robot 10 is less than or equal to the distance limit. In the safety state, the distance (not shown) of the person and / or the object in the detection environment from the component robot 10 is greater than the distance limit. The component robot 10 has a control unit 22. The control unit 22 is provided for controlling the movement unit 12. The control unit 22 is provided for controlling the mounting unit 14. The control unit 22 can be provided for controlling the process unit 16.

[0050] The control unit 22 is provided for determining the hazard parameter and / or the movement parameter based on the at least one measured value measured by the sensor unit 18. The control unit 22 is provided for determining the environmental parameter and / or the movement speed and / or the trajectory of the construction site robot 10 based on the at least one measured value measured by the sensor unit 18, in particular using at least one SLAM algorithm. Alternatively or additionally, another algorithm for determining the hazard parameter and / or the movement parameter that appears appropriate to a person skilled in the art is conceivable.

[0051] The control unit 22 is provided for adapting the notification based on the measured value. The control unit 22 is provided for outputting the notification via the output unit 20.

[0052] The notice comprises at least one optical signal, wherein the output unit 20 is provided to output a color of the optical signal depending on the hazard characteristic. The control unit 22 is provided to adapt at least the color of the optical signal depending on the hazard characteristic. The color is adaptable depending on the hazard characteristic.

[0053] The output unit 20 is provided to adapt at least the color of the optical signal to a warning color based on the danger state determined using the hazard characteristic. The output unit 20 is provided to adapt at least the color of the optical signal in the determined danger state to the warning color. The output unit 20 is also provided to output the optical signal in the safety state. In the safety state, the optical signal has a different color than a warning color. Alternatively, it would be conceivable for the output unit 20 to be provided only to output the optical signal in the danger state.

[0054] The output unit 20 has a display unit 30 for outputting the optical signal. The display unit 30 is presently arranged on the support unit 14, in particular the platform 56 and the lifting axis element 58. Alternatively or additionally, the display unit 30 could be arranged at least partially on the movement unit 12 and / or on the processing unit 16.

[0055] The output unit 20, in particular the display unit 30, has at least one luminous element 38. The output unit 20, in particular the display unit 30, has more than one luminous element 38 in the present case, with only one luminous element 38 being designated.

[0056] The output unit 20 can be provided to output a pattern 24 of the optical signal depending on the hazard characteristic. The control unit 22 can be provided to adapt at least the pattern 24 of the optical signal depending on the hazard characteristic. The pattern 24 can be adaptable depending on the hazard characteristic. The pattern 24 is predetermined by a number of simultaneously illuminated light elements 38 (see Figure 2).

[0057] The output unit 20 can be configured to output different colors and / or patterns 24 of the optical signal within the hazardous state. The control unit 22 can distinguish between different hazardous sub-states of the hazardous state, each with its own distance limit. The control unit 22 can adapt the colors and / or patterns 24 of the optical signal for the different hazardous sub-states. The output unit 20 is configured to output the warning color at least in one hazardous sub-state.

[0058] The warning includes at least one acoustic signal, with the output unit 20 being configured to output the acoustic signal only in the danger state determined based on the hazard parameter. The output unit 20 is configured to output the acoustic signal only in the danger state. The control unit 22 is configured to output the acoustic signal only in the danger state via the output unit 20. The output unit 20 has at least one loudspeaker 40 for outputting the acoustic signal.

[0059] The output unit 20 can be designed to output the acoustic signal only in one hazard substate or in two hazard substates. The output unit 20 is designed to output the acoustic signal at least in the hazard substate with the smallest distance limit.

[0060] The acoustic signal is fixed. Alternatively, it is conceivable that the acoustic signal is adjustable and, in particular, has different characteristics for the various hazard states.

[0061] Alternatively, it is conceivable that the acoustic signal is also emitted in the safety state, whereby the acoustic signal is designed differently in the safety state and in the danger state.

[0062] The output unit 20 is designed to output the warning at an output frequency dependent on the hazard characteristic. The output unit 20 is designed to output at least the optical signal at an output frequency dependent on the hazard characteristic.

[0063] The output unit 20 can alternatively or additionally be configured to output the acoustic signal at an output frequency dependent on the hazard characteristic. The output frequency refers to a pulsing intensity of the optical and / or acoustic signal.

[0064] The output unit 20 is designed to increase the output frequency in the danger state compared to the output frequency of an indication in the safety state. The output unit 20 is designed to output the output frequency for a danger sub-state, which is assigned a lower distance limit value than a distance limit value of another danger sub-state, at a higher output frequency than the output frequency of the other danger sub-state.

[0065] The control unit 22 is provided to adapt a control parameter for controlling the movement unit 12 and / or the support unit 14 depending on the hazard characteristic. The control unit 22 is provided for an emergency stop or throttling of the movement unit 12 and / or the support unit 14 if the distance of the person and / or object in the detection environment from the construction robot 10 is less than a distance emergency limit.

[0066] The indication comprises information relating to a planned and / or an existing movement 46 of the locomotion unit 12 (see Figure 2). The indication comprises information relating to a planned and / or an existing movement (not shown) of the mounting unit 14. For a uniform movement state of the locomotion unit 12 and / or the mounting unit 14, the indication comprises information relating to the existing movement 46. Before a change in the movement state of the locomotion unit 12 and / or the mounting unit 14, the indication comprises information relating to the planned movement 46, in particular the planned change in movement. The information is based on the movement characteristic.

[0067] The control unit 22 is designed to adapt a control parameter for controlling the process unit 16 depending on the hazard characteristic. The control unit 22 is designed to initiate an emergency stop or throttling of the process unit 16 if the distance between the person and / or object in the detection environment and the component robot 10 is less than a distance emergency limit.

[0068] Figure 2 shows an enlarged portion of the display unit 30 in a movement state of the movement unit 12. The output unit 20 has a running light unit 32, in particular at least for outputting the movement characteristic. The display unit 30 is designed as the running light unit 32. The running light unit 32 is provided for outputting the movement 46, in particular the direction of movement and / or the speed of movement, of the movement unit 12 by means of a running light 42. At least one running light direction 44 of the running light 42 of the running light unit 32 corresponds to a direction of the movement 46 of the movement unit 12.

[0069] The running light unit 32 is provided for outputting the movement, in particular the direction of movement and / or the speed of movement, of the holding unit 14 by means of a running light (not shown) (see Figure 1).

[0070] The running light unit 32 is arranged at least partially on the platform 56 to indicate the direction of movement and / or the speed of movement of the propulsion unit 12 (see Figure 1). The running light unit 32 is arranged at least partially on the lifting axis element 58 to indicate the direction of movement and / or the speed of movement of the mounting unit 14 (see Figure 1). Alternatively, another arrangement of the running light unit 32 on the construction site robot 10 that would be deemed appropriate by a person skilled in the art is conceivable.

[0071] The running light unit 32 has the lighting elements 38. The lighting elements 38 can be controlled independently of one another to generate a running light 42. In this case, the lighting elements 38 are designed as LED lighting elements.

[0072] The running light unit 32 has at least one LED strip 34, 36 consisting of the lighting elements 38 (see Figure 1). The running light unit 32 has at least one LED strip 34 for indicating the movement 46 of the movement unit 12. The running light unit 32 has at least one LED strip 36 for indicating the movement of the support unit 14 (see Figure 1).

[0073] The running light unit 32 is provided here for outputting the hazard characteristic, in particular by means of the output frequency of the running light 42 and the color of the running light 42 and, for example, a pattern 24 of the running light 42. Alternatively or additionally, the display unit 30 can have at least one further light unit (not shown), in particular different from the running light unit 32, which is provided for outputting the hazard characteristic. Alternatively, the running light unit 32 can also be designed as a matrix light unit (not shown), in particular a 2D LED matrix.

[0074] Figure 3 shows a flow chart of a method for operating the construction site robot 10, wherein the indication is output by means of the output unit 20 as a function of the hazard characteristic and / or the movement characteristic.

[0075] The method comprises a measuring step 100 in which at least one measured value of the sensor unit 18 is measured.

[0076] In a determination step 102 of the method, the hazard characteristic and / or the movement characteristic are / is determined. In determination step 102, at least the distance of the person and / or the object in the determination environment from the construction site robot 10 is determined. In determination step 102, the hazard characteristic and / or the movement characteristic are / is determined by means of the control unit 22, in particular based on the at least one measured value and / or the distance. The indication is generated in determination step 102.

[0077] The method comprises an output step 104 in which the indication is output by means of the output unit 20.

Claims

Claims 1. A construction robot (10) with an autonomous movement unit (12), with a holding unit (14) at least for holding at least one process unit (16), in particular a machining unit (26), with a sensor unit (18) and with at least one output unit (20) for outputting at least one instruction, characterized in that the output unit (20) is provided to output the instruction as a function of a hazard parameter determined at least by means of the sensor unit (18) and / or a movement parameter determined at least by means of the sensor unit (18).

2. Construction robot (10) according to claim 1, characterized in that the indication comprises at least one optical signal, wherein the output unit (20) is provided to output a color and / or a pattern (24) of the optical signal depending on the hazard characteristic.

3. Construction robot (10) according to claim 2, characterized in that the output unit (20) is provided to adapt at least one color of the optical signal to a warning color on the basis of a danger state determined by means of the danger parameter.

4. Construction robot (10) according to one of the preceding claims, characterized in that the indication comprises at least one acoustic signal, wherein the output unit (20) is provided to output the acoustic signal only in a dangerous state determined on the basis of the dangerous parameter.

5. Construction robot (10) according to one of the preceding claims, characterized in that the output unit (20) is provided to output the information with an output frequency dependent on the hazard parameter.

6. Construction robot (10) according to one of the preceding claims, characterized by a control unit (22) which is provided to adapt a control parameter for controlling the movement unit (12) and / or the holding unit (14) as a function of the hazard parameter.

7. Construction robot (10) according to one of the preceding claims, characterized in that the indication comprises information relating to a planned and / or an existing movement (46) of the movement unit (12) and / or the holding unit (14).

8. Construction robot (10) according to one of the preceding claims, characterized by at least the process unit (16) and a control unit (22), wherein the control unit (22) is provided to adapt a control parameter for controlling the process unit (16) depending on the hazard characteristic.

9. Component robot (10) according to one of the preceding claims, characterized in that the output unit (20) has a running light unit (32) and / or a matrix light unit, in particular at least for outputting the movement characteristic.

10. A method for operating a construction site robot (10), in particular according to one of the preceding claims, with an autonomous movement unit (12), wherein an indication is output by means of at least one output unit (20) of the construction site robot (10), characterized in that the indication is output by means of the output unit (20) as a function of a hazard characteristic determined at least by means of a sensor unit (18) and / or a movement characteristic determined at least by means of a sensor unit (18).

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