Interface device, construction site robot system, power tool and method for operating an interface device

Abstract

Proposed is an interface device (10) for a communication link between a construction site robot device (32) and a power tool unit (42), at least for automatically controlling the power tool unit (42).

Description

[0001] Description

[0002] Cutting device, construction site robot system, power tool and method for operating a cutting device

[0003] State of the art

[0004] A robot has already been proposed which has a control unit that generates control signals for direct, and in particular unaltered, transmission to a tool of the robot.

[0005] Disclosure of the invention

[0006] A cutting device is proposed for a communication link between a construction site robot device and a power tool unit, or at least for automated control of the power tool unit.

[0007] The cutting-piece device enables a particularly flexible communication link, allowing for a particularly simple change of communication partners, especially the construction robot device or the power tool unit. For example, the construction robot device and / or the power tool unit can be advantageously designed using commercially available components and / or each be configured for different communication methods, such as commercially available ones, particularly according to different communication protocols, which can be advantageously bridged by means of the cutting-piece device.Development costs can be advantageously reduced and efficiency increased, particularly by providing the construction robot device and the power tool unit with a communication method that is already established and / or particularly advantageous for their respective functions. A "communication link" here refers specifically to a connection for the transmission of at least one electrical and / or electronic signal, especially for the transmission of at least one control signal and / or at least one piece of information. The automated control of the power machine unit is specifically automated control of the power machine unit by means of the construction robot device. The communication link to the automated control of the power tool unit is preferably provided for the transmission of the at least one control signal.The communication link is preferably designed for the transmission of analog and / or digital signals. The cutting device is interposed in a communication chain between the construction robot device and the power tool unit, particularly to establish the communication link. The cutting device is specifically designed as a communication bridge, for example, as a gateway, for communication between the construction robot device and the power tool unit. The construction robot device and the power tool unit are preferably designed to communicate with each other solely via the communication link, and specifically solely via the cutting device. The communication link between the construction robot device and the power tool unit is preferably at least partially bidirectional.Alternatively, the communication link could be unidirectional, for example, for signal transmission from the construction robot unit to the power tool unit. The cutting device is preferably designed as an electronic unit. Preferably, the cutting device comprises a circuit board unit, in particular a printed circuit board with electronic components and connecting elements mounted on the board, and in particular a mounting housing for the circuit board unit. The interface device, in particular at least the circuit board unit, has dimensions such that the installation of a power tool unit is possible.The cutting device, in particular at least the blank unit, preferably has a length and / or width of a maximum of 15 cm, more preferably a maximum of 10 cm, more preferably a maximum of 7 cm, and most advantageously a maximum of 5 cm and / or a minimum of 1 cm, more preferably a minimum of 3 cm, and more preferably a minimum of 4 cm. By way of example, the cutting device, in particular at least the blank unit, can have a length of 5 cm and / or a width of 4 cm. Alternatively, other dimensions of the cutting device that appear reasonable to a person skilled in the art are conceivable.

[0008] The construction site robot device is preferably designed as at least a part, and in particular as at least one sub-assembly, of the construction site robot. The construction site robot device preferably includes at least one control unit, in particular of the construction site robot. A "control unit" is understood to mean, in particular, a unit with at least one control electronics unit. A "control electronics unit" is understood to mean, in particular, a unit with a computing unit, in particular a processor unit, and with a memory unit, as well as with an operating program stored in the memory unit. The control unit of the construction site robot device is preferably designed to generate at least one signal, in particular the at least one control signal, for transmission to the power tool unit via the communication link. The construction site robot device is preferably designed as the construction site robot itself.Alternatively, it is conceivable that the construction robot at least partially, and in particular completely, incorporates the cutting device, with the construction robot device being designed, for example, as a remnant of the construction robot free of at least part of the interface device of the construction robot. Alternatively, it would be conceivable that the construction robot device is designed as the control unit of the construction robot.

[0009] The power tool unit is preferably designed as at least a part, and in particular as at least one subassembly, of a power tool. The power tool unit preferably includes at least one control unit, preferably a microcontroller, of the power tool. Preferably, the power tool is designed to be portable, and in particular, manually transportable, especially when disconnected from the construction robot and outside of an operating state. The power tool is preferably based on a handheld power tool. The power tool is preferably designed and manufactured as a handheld power tool, particularly a commercially available one, or as a handheld power tool that has been at least partially modified.The power tool unit, in particular the at least partially modified handheld power tool, is preferably specifically designed for interaction with the construction site robot and / or the cutting device, and is particularly modified and, for example, free of a handle and / or an HMI (Human Machine Interface) for displaying diagnostics and / or operating elements of the handheld power tool. The control unit of the power tool can be designed as a control unit of a handheld power tool. Preferably, the power tool has at least one electric motor, for example, of a handheld power tool. The control unit of the power tool unit is preferably designed as an electric motor control unit. The power tool preferably has a housing, which can be designed at least partially as a housing of a handheld power tool.The power tool is preferably designed for machining at least one object on the construction site. The power tool preferably has at least one tool, for example, a handheld power tool. The tool is particularly preferably a drill or impact drill. The power tool is preferably a drill and particularly preferably a rotary hammer. Alternatively, it is also conceivable that the power tool is a screwdriver, a jigsaw, an angle grinder, a circular saw, a demolition hammer, a nail gun, a grinder, an angle grinder, a dust extractor, or another power tool that would be considered suitable by a person skilled in the art, particularly one based on a handheld power tool.The tool can be designed as a squeegee, a grinding wheel, a saw blade, a hammer, or any other tool that would be considered appropriate by a person skilled in the art. The cutting device is preferably at least partially, and in particular completely, part of the power tool and is, for example, arranged at least partially, and preferably completely, within the housing of the power tool, wherein the power tool unit is designed, for example, as a remnant of the power tool, free of at least part of the cutting device of the power tool. Alternatively, it is conceivable that the power tool unit is designed as the power tool itself, which is in particular free of the cutting device.

[0010] The construction site robot device, the cutting device, and the power tool unit are preferably at least part of a construction site robot system. The construction site robot system preferably comprises the construction site robot and / or the power tool. The cutting device can, in particular, be part of the construction site robot and / or the power tool and / or be designed separately from the construction site robot and / or the power tool and, in particular, be connected to them. The construction site robot system is preferably designed as a processing system for performing at least one processing operation on a construction site. A "construction site" is understood to mean, in particular, a location and / or environment where a construction project is carried out.The construction site can, for example, comprise a shell structure and / or an entire building, 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 one object to be processed by the construction robot system. The construction site can be a commercial or a private site. The dimensions of the construction robot, and in particular the construction robot system, are preferably designed for indoor operation. The construction robot, and in particular the construction robot system, preferably has a maximum height of less than 2.5 m, and in particular less than 2 m, along a direction of gravity in at least one operating state, especially for movement.The construction robot, and in particular the construction robot system, can have a maximum height of up to or more than 2.5 m in another operating state, for example, for carrying out ceiling work. Preferably, the construction robot, and in particular the construction robot system, has a mass of less than 3000 kg, more preferably less than 2000 kg, and more particularly less than 1500 kg. Preferably, the construction robot system is configured as a drilling robot system.Alternatively, it is also conceivable that the construction site robot system is designed as a construction site robot system different from a drilling robot system, for example as a sawing robot system, a grinding robot system, a robot system for driving in brackets, or the like, as a combination of these, or as another construction site robot system that would appear sensible to a person skilled in the art. Preferably, the construction site robot has at least one, preferably exactly one, manipulator unit. The manipulator unit is preferably designed for moving and / or aligning and / or supporting and / or handling and / or manipulating the power tool.The construction site robot system preferably comprises a processing unit for machining the object to be machined, which includes the power tool and the manipulator unit, or is formed by them, particularly in a connected state of the construction site robot device and the power tool unit. The manipulator unit is preferably designed to provide at least partial machining force, particularly to the processing unit, for the machining process. Preferably, the manipulator unit is designed to provide a feed force, particularly to the power tool, for the machining process. The manipulator unit preferably comprises a robot arm and / or a lifting platform and preferably has one to seven axes. The manipulator unit can be configured as the robot arm.Preferably, the manipulator unit has more than one degree of freedom for moving the power tool, particularly relative to a propulsion unit mentioned below. The manipulator unit is preferably designed as a multi-axis kinematic unit. Alternatively, it is conceivable that the manipulator unit has only one degree of freedom for moving the power tool, particularly in a feed direction. The power tool can, in particular, be designed as an end effector on the manipulator unit. In at least one operating state of the construction robot system, the power tool is preferably arranged on the manipulator unit, particularly at a free end of the manipulator unit, and connected to it. The power tool can be attached to the construction robot and / or, in particular at least in the connected state, is already attached.The construction site robot, in particular the construction site robot device, preferably has at least one energy storage device, especially for supplying the construction site robot and / or the power tool unit. The power tool, in particular the power tool unit, can preferably be supplied with energy, in particular electrical power, by means of the construction site robot, in particular by means of the construction site device. It would be conceivable that the cutting device is provided for the transmission of a supply current from the construction site device to the power tool unit. Preferably, however, a connection for the transmission of the supply current is designed independently of the cutting device. Alternatively or additionally, it would be conceivable that the power tool, in particular the power tool unit, has an energy storage device for at least partial independent power supply.

[0011] The construction site robot system, in particular the construction site robot, is preferably designed as a mobile construction site robot system, in particular as a mobile construction site robot. The construction site robot system, in particular the construction site robot, is preferably designed differently from a stationary construction site robot system, in particular a construction site robot. Preferably, the construction site robot system, in particular the construction site robot, is designed differently from a robot fixed in one position, in particular different from an industrial robot system, in particular an industrial robot. Particularly preferably, the construction site robot system, in particular the construction site robot, is designed to move autonomously, in particular according to a work plan.Alternatively or additionally, the construction site robot system, in particular the construction site robot, can be designed for at least partially remote-controlled and / or manually propelled movement. Preferably, the construction site robot system, in particular the construction site robot, is designed to move, in particular to move autonomously. Alternatively or additionally, however, it would also be conceivable that the construction site robot system, in particular the construction site robot, is capable of walking, in particular as a walking robot, and / or flying, in particular as a drone, and / or buoyancy, in particular as a floating vehicle, and / or is designed for another mode of movement that appears sensible to a person skilled in the art. The construction site robot system, in particular the construction site robot, preferably has at least one locomotion unit, in particular one that moves autonomously. The locomotion unit has, in particular, a chassis.The propulsion unit, in particular the chassis, comprises, for example, a track unit, a roller unit, a wheel unit, a propeller unit, a turbine unit, or other means of propulsion that would appear appropriate to a person skilled in the art, or a combination thereof. The propulsion unit is preferably designed to move the processing unit, in particular relative to the object to be processed and / or on the construction site. The propulsion unit is specifically designed to move the processing unit on a surface, for example, a floor, a wall, and / or a ceiling. The propulsion unit is preferably designed to move the construction site robot system, in particular the construction site robot as a whole, across the surface. The manipulator unit, in particular the processing unit, at least in the connected state, is preferably arranged on the propulsion unit.The manipulator unit is preferably rigidly connected to the propulsion unit and, in particular, is arranged at least partially above the propulsion unit. Preferably, a connection point between the manipulator unit and the propulsion unit is located on the upper side of the propulsion unit. The power tool unit is preferably attached and / or attachable to a side of the manipulator unit opposite the propulsion unit.

[0012] The term "intended" means specifically programmed, designed, and / or equipped. The fact that an object is intended for a specific function means that the object fulfills and / or executes this specific function in at least one application and / or operating state.

[0013] Furthermore, it is proposed that the cutting device include a processing unit designed to adapt the communication method to the control of the power tool unit, depending on the power tool unit, and in particular to a communication method compatible with the power tool unit. Specifically, the communication method of the construction robot device can be adapted with particular flexibility to the communication method of the power tool unit, especially to any configured power tool unit. Advantageously, the computational effort, particularly for generating a signal corresponding to the communication method of the power tool unit, can be reduced or avoided in the construction robot device, and the construction robot device is designed to be particularly simple to communicate using a consistently identical communication method.The cutting device, in particular the processing unit, is preferably designed to convert the communication mode between the construction robot and the power tool unit to establish the communication link. Preferably, the cutting device includes a storage unit for at least one algorithm for adapting the communication mode using the processing unit. The cutting device, in particular the processing unit, is preferably designed to receive at least one first signal from the construction robot according to the communication mode of the construction robot and to output at least one second signal based on the first signal according to the communication mode of the power tool unit.

[0014] Furthermore, it is proposed that the communication link be provided via a wired connection. The communication link is preferably at least partially, and in particular entirely, provided via a wired connection. Advantageously, the communication link can provide particularly efficient, reliable, and / or secure signal transmission. The communication link is preferably located entirely on the construction robot, the power tool, and / or the cutting device and is designed to be free of communication with an external system. The cutting device, in particular the circuit board unit, preferably has connecting elements, for example, pins and / or plug connectors, for the connection, in particular a wired connection, to the construction robot device and / or the power tool unit.The communication link can be at least partially separable, in particular non-destructively separable, for example without tools, and / or at least partially permanent, in particular non-destructively separable, for example without tools. For example, a connection between the cutting device and the power tool unit can be permanent, and in particular a connection between the cutting device and the construction robot device can be separable. Preferably, hardware of the interface device for establishing the communication link can be docked to and / or undocked from the construction robot device and / or the power tool unit, in particular automatically and / or guided. Alternatively, the communication link can be provided at least partially wirelessly, for example via Bluetooth, WLAN, ZigBee, Matter, or the like.It would be conceivable that the cutting device and the construction robot device and / or the power tool unit are designed for wireless communication with each other. It would also be conceivable that the cutting device, for example the computing unit, is located and configured, at least partially, externally from the construction robot and the power tool, for example in a cloud unit, particularly when connected.

[0015] Furthermore, it is proposed that the cutting device has a construction site robot interface, which is configured as a fieldbus interface, in particular as a serial fieldbus interface. The construction site robot interface is preferably designed to establish a connection, particularly at least a data connection, between the construction site robot, in particular at least the control unit, and the cutting device, in particular at least the computing unit. The construction site robot interface is preferably configured as an automation device interface. In particular, the required amount of data for transmitting control signals and / or sensor signals between the construction site robot and the cutting device can be transmitted particularly efficiently.Advantageously, the security, particularly cybersecurity, of the connection between the construction robot device and the cutting device can be increased, and / or a particularly reliable connection performance can be provided. Preferably, the cutting device, and in particular the construction robot device interface, is designed for bidirectional communication with the construction robot device. The construction robot device interface is preferably designed as a two-wire interface. Alternatively, the construction robot device interface can be designed for a connection between the construction robot device and the cutting device with any number of wires that a person skilled in the art would consider reasonable. For example, the construction robot device interface can be designed as a three-wire interface.The construction site robot device interface is preferably designed to receive a supply voltage, in particular from the construction site robot device, for the operation of the cutting device.

[0016] Alternatively or additionally, it would be conceivable that the construction site robot device interface has an industrial Ethernet interface and / or a wireless interface, or is designed as such.

[0017] It is further proposed that the construction site robot device interface be provided for CAN (Controller Area Network) communication, in particular CANopen or SAE J1939 communication. Advantageously, this allows for particularly fast communication between the construction site robot device and its interface, thereby reducing communication errors. Furthermore, it can improve efficiency, especially in terms of weight and / or cost, for a CAN bus. The cutting device, in particular the construction site robot interface, is preferably designed for communication with the construction site robot device according to a CAN communication protocol, preferably CANopen.

[0018] Alternatively or additionally, it is conceivable that the CAN communication differs from CANopen communication, in particular that it uses a communication protocol different from the CANopen communication protocol. For example, the CAN communication could be implemented as DeviceNet communication, SAE J1939 communication, or another CAN communication protocol that would be considered appropriate by a person skilled in the art. Alternatively or additionally, it would be conceivable that the construction site robot device interface could be designed to connect to a bus system different from CAN that would be considered appropriate by a person skilled in the art, in particular a fieldbus system such as Modbus, Profinet, or EtherCAT.

[0019] Furthermore, it is proposed that the cutting device has a power tool unit interface, which is provided for connection with a control unit, particularly one mentioned above, internal to the power tool unit. Advantageously, the cutting device can transmit signals to and / or exchange signals with the power tool unit in a particularly efficient manner via the power tool unit interface. The power tool unit interface is preferably designed to establish a connection, particularly at least a data connection, between the power tool unit, in particular at least the control unit, and the interface device, in particular at least the processing unit. Preferably, the cutting device, in particular the power tool unit interface, is designed at least partially for bidirectional communication with the power tool unit, in particular the control unit.The power tool unit interface preferably has at least one connecting element for a connection of a cable, in particular a ribbon cable, to a wired connection to the power tool unit.

[0020] Furthermore, it is proposed that the power tool unit interface be provided for internal communication, particularly with the power tool unit itself. This internal communication is specifically designed as internal communication within the power tool and / or corresponds to the internal communication method of the power tool. Preferably, the internal communication is designed similarly to that of a standard hand-held power tool. Advantageously, the communication link can be particularly well adapted to the power tool unit and / or provide a high degree of efficiency. Preferably, the power tool unit interface is provided for communication at least via a smart tool bus.The power tool unit interface is preferably provided for at least one UART (Universal Asynchronous Receiver Transmitter) communication, in particular for the transmission of digital signals. Preferably, the power tool unit interface has at least one UART interface. The power tool unit interface, in particular the UART interface, is preferably designed for the transmission of sensor data and / or status messages and / or error messages. The UART communication is preferably configured as bidirectional communication. Alternatively or additionally, other communication methods and, in particular, communication protocols that appear useful to those skilled in the art are conceivable for communication between the cutting device, in particular the power tool unit interface, and the power tool unit.

[0021] Furthermore, it is proposed that the power tool unit interface be designed to transmit at least one, in particular an emulated, switch signal and / or safety signal. The cutting device, in particular the power tool unit interface, is preferably designed to emulate signals from the, in particular remote, HMI and / or the, in particular remote, operating elements of the, preferably modified, hand-held power tool. The cutting device is preferably designed to assume a position of the remote HMI and / or operating elements with respect to a bus address and / or a communication protocol in communication with the power tool unit. Advantageously, the power tool unit can be controlled, particularly advantageously, by means of the device's internal communication, in particular according to the device's internal communication of a hand-held power tool.In particular, the cutting device can advantageously control the power electronics of the power tool. The power tool unit interface is preferably designed to transmit at least one switch signal and / or safety signal based on a signal received, in particular at the construction robot device interface, originating from the construction robot device. The power tool unit interface is specifically designed for unidirectional communication for transmitting the at least one switch signal and / or safety signal. Preferably, the cutting device, in particular the power tool unit interface, is designed to control the power electronics of the machine tool, in particular the power tool unit, preferably at least by means of the at least one switch signal and / or safety signal.The power tool unit interface preferably has at least one hardware interface, in particular for transmitting the at least one switch signal and / or safety signal, which, for example, has potential-free contacts. Preferably, the power tool unit interface has at least one analog output, in particular for transmitting the at least one switch signal and / or safety signal. The switch signal is preferably intended for switching a functional unit, in particular the electric motor of the power tool, on and / or off. The interface device is preferably designed, at least partially, as a switching assembly. Preferably, the switch signal, in particular for switching on the functional unit, includes at least information regarding the operation of the functional unit, for example, regarding a speed and / or direction of rotation.The safety signal is preferably designed to enable and / or disable operation of the functional unit. The safety signal, particularly in at least one operating state, is preferably designed as an emulation of an enable signal and / or disable signal, especially that of a commercially available hand-held power tool, with respect to the status of an energy storage device, located remotely from the hand-held power tool in the power tool unit, which supplies power to the functional unit.A release signal from a standard power tool depends, in particular, on the temperature of the energy storage device and its compatibility with the power tool, especially a battery and / or accumulator used in the power tool. This advantageously prevents dangerous operation of the functional unit in the event of overheating and / or incompatibility of the energy storage device. The construction robot, which supplies the power tool unit with electricity, is preferably equipped with an internal test procedure to monitor the status of the robot's energy storage device. This allows the safety signal at the cutting device to be emulated safely, particularly without considering the actual status of the energy storage device supplying the functional unit.

[0022] Furthermore, it is proposed that the cutting device includes a sensor unit, which in particular comprises at least one accelerometer. Advantageously, the operation of the construction site robot system, especially the power tool, can be monitored by means of the sensor unit and, in particular, adjusted and improved based on data from the sensor unit, and / or at least information regarding the operation can be output, for example, to an operator. The sensor unit of the cutting device, in particular at least the accelerometer, is preferably arranged at least partially in the power tool, in particular in the housing of the power tool. The accelerometer is preferably designed to determine the acceleration, in particular the vibration, of the power tool during machining.Preferably, the sensor unit of the cutting device, in particular at least the accelerometer, is arranged at least partially on the circuit board of the circuit board unit. Alternatively or additionally, it is conceivable that the sensor unit of the cutting device, in particular at least the accelerometer, is arranged at least partially spaced away from the circuit board. The sensor unit of the cutting device is preferably connected to the processing unit of the cutting device, in particular at least via data transmission. The sensor unit of the cutting device is preferably connected to the processing unit of the cutting device by means of an FC bus.Alternatively or additionally, another connection between the sensor unit and the processing unit of the cutting tool, which would appear useful to a person skilled in the art, is conceivable, for example, by means of a data bus configured differently from an FC bus. The processing unit and the sensor unit are preferably designed for unidirectional communication with each other, with the sensor unit specifically designed for transmitting data from the sensor unit to the processing unit of the cutting tool. Preferably, the accelerometer is configured as a 3D accelerometer. The sensor unit can, in particular additionally or alternatively to the accelerometer, include other sensors that would appear useful to a person skilled in the art, for example, at least one temperature sensor or the like, for monitoring the processing.In this context, a "sensor unit" is understood to mean, in particular, a unit designed to record at least one characteristic parameter and / or a physical property, whereby the recording can be active, such as by generating and transmitting an electrical measurement signal, and / or passive, such as by detecting changes in the properties of a sensor component. Various sensor units that would appear suitable to a person skilled in the art are conceivable.

[0023] Furthermore, it is proposed that the cutting device include a computing unit, in particular the one mentioned above, which is designed to transmit the aforementioned data from the sensor unit, in particular the cutting device, to the construction site robot device. The construction site robot, in particular the construction site robot device, is preferably designed as an automation device. It is further proposed that the cutting device include a computing unit, in particular the one mentioned above, which is designed to transmit data from a sensor unit of the power tool unit to the construction site robot device.Preferably, the construction site robot device, in particular the control unit, is designed to evaluate the data from the sensor unit, especially at least the cutting device and / or the power tool unit, and to adjust at least one control parameter, for example, for controlling the power tool unit and / or the manipulator unit and / or the machining unit, based on the sensor unit data. Advantageously, the evaluation of the sensor unit data, especially at least the cutting device and / or the power tool unit, can be provided in the construction site robot device, which in particular offers increased processing power compared to the cutting device and / or the power tool unit. The sensor unit data can be evaluated with particular precision and / or the at least one control parameter can be adjusted with particular efficiency.Furthermore, the cutting device and / or the power tool unit can be designed to be particularly cost-efficient, especially with limited computing power. The sensor unit of the power tool unit is preferably configured to transmit the sensor unit's data to the power tool unit's control unit. The power tool unit's control unit is preferably configured to transmit the sensor unit's data to the processing unit of the cutting device. The processing unit is specifically configured to transmit the sensor unit's data, particularly from the cutting device and / or the power tool unit, to the construction robot device via the site robot device interface.The sensor unit of the power tool unit can, for example, include at least one current sensor for determining the current of the electric motor, and / or at least one impact detection sensor, and / or at least one temperature sensor, particularly for determining the temperature of the control unit of the power tool unit and / or the electric motor, and / or the like. Advantageously, the at least one temperature sensor can provide increased protection against overheating, particularly of the control unit of the power tool unit and / or the electric motor. Preferably, the cutting device, and in particular the power tool unit interface, is designed to receive data relating to specific process diagnostics and / or process-relevant parameters of the control unit of the power tool unit.

[0024] Furthermore, it is proposed that the control unit of the construction site robot device be designed to adapt control signals, in particular the at least one control parameter, at least as a function of data from at least one sensor unit of the cutting device, in particular the one mentioned above, and / or at least one sensor unit of the power tool unit, in particular the one mentioned above. Advantageously, a particularly efficient adaptation of the control signals can be achieved, in particular by means of a particularly precise evaluation of the data from the at least one sensor unit. The control unit of the construction site robot device can be designed to take into account data from a sensor unit of the construction site robot device when adapting the control signals, in particular the at least one control parameter.The sensor unit of the construction site robot device can, for example, be used to determine data regarding a contact force, in particular of the manipulator unit, and / or a feed rate, in particular of the power tool by means of the manipulator unit, and / or a current consumption. When recording the current consumption, two currents are recorded in particular: a motor current, in particular a smoothed current, and a current consumption from the battery or from the construction site robot.

[0025] The control unit of the construction site robot device is designed to adjust the speed and / or direction of rotation of the power tool, particularly the power tool, preferably via the control unit of the power tool unit, and / or to adjust the feed rate and / or the contact force on the manipulator unit, by means of adjusting the control signals, in particular the at least one control parameter. The control unit of the construction site robot device may be designed to evaluate the data based on at least one standard algorithm, in particular one that differs from an artificial intelligence (AI) algorithm, for example, by determining at least one minimum and / or at least one maximum and / or at least one envelope of the data and / or by means of at least one Fast Fourier Transform and / or by means of another algorithm that appears sensible to a person skilled in the art.Alternatively or additionally, the control unit of the construction site robot device can be designed to evaluate the data based on at least one AI algorithm.

[0026] Alternatively or additionally, it is conceivable that the control unit of the power tool unit and / or the computing unit of the cutting device is provided for at least part of the data and / or for an adjustment of at least one control parameter and / or control signal based on the data.

[0027] Furthermore, a method for operating the cutting device is proposed, wherein the construction site robot device and the power tool unit are communicatively connected via the cutting device, at least for the automated control of the power tool unit. Advantageously, flexibility and / or development effort can be reduced. The method preferably comprises at least one process step, in particular a transmission step, in which the construction site robot device transmits at least one signal, in particular a control signal and / or at least one piece of control information, to the power tool unit via the cutting device. The cutting device adapts the signal for transmission, particularly in the transmission step, preferably to a communication type of the power tool unit.Preferably, the method comprises a further process step, in particular a detection step, in which the at least one sensor unit of the power tool unit and / or the cutting device and / or the construction robot device detects data, in particular regarding a machining operation. The detection step preferably takes place after the transmission step. In a further process step of the method, in particular in a further transmission step, the data from the sensor unit are transmitted at least partially to the construction robot device via the cutting device. For the transmission of the data, in particular in the further transmission step, the cutting device preferably adapts at least one signal originating from the power tool unit and / or a signal from the cutting device to a communication method of the construction robot device.The subsequent transmission step preferably takes place after the acquisition step. Preferably, the method includes a further process step, in particular an adaptation step, in which the construction site robot device adapts the at least one control signal and / or the at least one piece of information regarding the control depending on the data. The adaptation step preferably takes place after the subsequent transmission step. The method is preferably repeated within a processing process, in particular within the construction site robot system.

[0028] The cutting device, the construction site robot system, the power tool, and the method for operating the cutting device are not to be limited to the application and embodiment described above. In particular, the cutting device, the construction site robot system, the power tool, and the method for operating the cutting device may, to achieve a functionality described herein, have a different number of individual elements, components, units, and process steps than specified herein. Furthermore, values ​​within the specified limits of the value ranges stated in this disclosure are also to be considered disclosed and freely usable.

[0029] drawing

[0030] Further advantages will become apparent from the following description of the drawings. The drawing illustrates an embodiment of the invention. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. The drawings show:

[0031] Fig. 1 A schematic side view of a construction site robot system with a cutting device,

[0032] Fig. 2 shows a schematic communication overview of the construction site robot system.

[0033] Fig. 3 shows an enlarged view of part of the construction site robot system and

[0034] Fig. 4 shows a flowchart of a procedure for operating the cutting tool device.

[0035] Description of the exemplary embodiment

[0036] Figure 1 shows a schematic side view of a construction site robot system 50.

[0037] The construction site robot system 50 includes a construction site robot device 32. The construction site robot device 32 is at least part of a construction site robot 30. The construction site robot 30 is part of the construction site robot system 50. The construction site robot device 32 is, by way of example, configured as the construction site robot 30.

[0038] The construction site robot system 50 includes a power tool unit 42. The power tool unit 42 is at least part of a power tool 40. The power tool 40 is part of the construction site robot system 50. The power tool unit 42 is shown here, by way of example, only as part of the power tool 40.

[0039] The construction site robot system 50a is designed to process at least one object 52.

[0040] The construction site robot 30, in particular the construction site robot device 32, is designed to move autonomously. The construction site robot 30, in particular the construction site robot device 32, is designed to drive autonomously. The construction site robot 30, in particular the construction site robot device 32, has at least one locomotion unit 36. The locomotion unit 36 ​​is designed to move autonomously, in particular to drive.

[0041] Alternatively, the construction site robot 30 can be designed for a different mode of locomotion that appears sensible to the expert.

[0042] The movement unit 36 ​​is designed to move a machining unit 54 relative to the object 52 to be machined. The machining unit 54 is designed to perform the machining operation on the object 52. The machining unit 54 includes the power tool 40.

[0043] The construction robot 30, in particular the construction robot device 32, has a manipulator unit 38 for moving and / or supporting the power tool 40 relative to the locomotion unit 36. The machining unit 54 includes the manipulator unit 38. The manipulator unit 38 is shown here as an example configured as a robot arm.

[0044] Alternatively or additionally, the manipulator unit 38 can, for example, have a lifting platform, in particular between the locomotion unit 36 ​​and the robot arm, or be designed as such.

[0045] Figure 2 shows a schematic communication overview of the construction site robot system 50.

[0046] The construction site robot system 50 has a cutting device 10. The power tool 40 has the cutting device 10.

[0047] Alternatively, it would be conceivable that the cutting device 10 is part of the construction robot 30 or is designed outside of the construction robot 30 and the power tool 40 and is connected to them.

[0048] The cutting device 10 is intended to establish a communication link between the construction site robot device 32 and the power tool unit 42, at least for automated control of the power tool unit 42. The cutting device 10 acts as a communication bridge for communication between the construction site robot device 32 and the power tool unit 42. The construction site robot device 32 and the power tool unit 42 are intended to communicate with each other solely via the cutting device 10.

[0049] The construction site robot device 32 has a control unit 34. The control unit 34 of the construction site robot device 32 is designed to generate at least one signal for transmission to the power tool unit 42 via the communication link to the automated control system of the power tool unit 42.

[0050] The power tool unit 42 includes a control unit 44. The control unit 44 of the power tool unit 42 is designed to receive at least one signal transmitted via the communication link from the construction site robot device 32. The control unit 44 of the power tool unit 42 is designed to control an electric motor 48 (see Figure 3) based on the received signal.

[0051] The cutting device 10 has a processing unit 12, which is designed to adapt a communication method to the control of the power tool unit 42 depending on the power tool unit 42. The processing unit 12 is designed to adapt a communication protocol to the communication link depending on the power tool unit 42.

[0052] The cutting device 10 is designed to communicate with the construction site robot device 32 via a communication method of the construction site robot device 32 and with the power tool unit 42 via a communication method of the power tool unit 42. The communication connection is provided via a cable. In this case, the communication connection is provided solely via a cable.

[0053] Alternatively, the communication link can be provided at least partially wirelessly.

[0054] The cutting device 10 has a construction site robot device interface 14. The construction site robot device interface 14 is designed to establish a connection between the construction site robot device 32 and the cutting device 10. The construction site robot device interface 14 is designed as a fieldbus interface 16. The construction site robot device interface 14 is designed for bidirectional communication with the construction site robot device 32.

[0055] The construction site robot device interface 14 is designed for CAN communication, in particular CANopen communication. The construction site robot device interface 14 is designed for CAN communication, in particular CANopen communication, with the construction site robot device 32. The construction site robot device interface 14 is configured as a CAN interface, in particular as a CANopen interface.

[0056] Alternatively or additionally, it would be conceivable that the construction site robot device interface 14 is provided for a connection via another bus system, in particular a fieldbus system, which would appear sensible to the person skilled in the art.

[0057] The cutting device 10 has a power tool unit interface 18, which is intended for connection with the internal control unit 44 of the power tool unit 42. The power tool unit interface 18 is intended for internal communication between the device and the power tool unit 42.

[0058] The power tool unit interface 18 is shown here as being designed for at least one UART communication. The power tool unit interface 18 has at least one UART interface 24. The UART communication is configured as bidirectional communication.

[0059] The power tool unit interface 18 is designed to transmit at least one, in particular emulated, switch signal and / or safety signal. The power tool unit interface 18 has at least one analog output 26. The analog output 26 is designed to transmit the at least one switch signal and / or safety signal. Communication via the analog output 26 is unidirectional.

[0060] The switch signal is configured as an on / off signal. In this case, the switch signal provides information regarding the controlled speed and / or direction of rotation of the electric motor 48. The safety signal is configured as an enable or disable signal for operating the electric motor 48.

[0061] The cutting device 10 includes a display unit 28, which may have at least one light element, for example, at least one LED, preferably multi-colored LEDs. The display unit 28 is designed to output a status message to an operator. A housing of the cutting device 10 and / or the power tool 40 (not shown) may have at least one window (not shown) for outputting the message to the operator. The processing unit 12 of the cutting device 10 is designed to control the display unit 28.

[0062] Alternatively or additionally, it is conceivable that the power tool unit 42 at least partially includes the display unit 28.

[0063] The cutting device 10 has a sensor unit 20. The sensor unit 20 of the cutting device 10 has at least one accelerometer 22. The sensor unit 20 of the cutting device 10 is connected, for example, to the processing unit 12 of the interface device 10 via an FC bus. The sensor unit 20 of the cutting device 10 is designed for unidirectional communication with the processing unit 12 of the cutting device 10. The sensor unit 20 of the cutting device 10 is designed to transmit the data to the processing unit 12 of the cutting device 10. The processing unit 12 of the cutting device 10 is designed to transmit the data from the sensor unit 20 of the cutting device 10 to the construction site robot device 32.

[0064] The power tool unit 42 includes a sensor unit 46. The sensor unit 46 of the power tool unit 42 is designed to transmit data via the control unit 44 of the power tool unit 42 to the processing unit 12 of the cutting device 10. The processing unit 12 of the cutting device 10 is designed to transmit data from the sensor unit 46 of the power tool unit 42 to the construction site robot device 32.

[0065] The control unit 34 of the construction site robot device 32 is designed to adapt control signals at least depending on data from at least the sensor unit 20 of the cutting part device 10 and at least the sensor unit 46 of the power tool unit 42.

[0066] Figure 3 shows at least part of the construction site robot system 50 with an exemplary embodiment of the power tool 40 enlarged.

[0067] The power tool 40 is manufactured from a modification of a hand-held power tool. The power tool 40 has at least one electric motor 48. The power tool 40 is, in this example, configured as a rotary hammer.

[0068] Figure 4 shows a flowchart of a method for operating the cutting device 10, in which the construction site robot device 32 and the power tool unit 42 are communicatively connected at least to the automated control of the power tool unit 42 via the cutting device 10.

[0069] The process includes a first transmission step 100, in which the

[0070] The control unit 34 of the construction site robot device 32 transmits at least one signal to the control of the power tool unit 42 via the cutting device 10 to the power tool unit 42. The cutting device 10 adapts the signal in the transmission step 100 to a communication type of the power tool unit 42.

[0071] In investigation step 102 of the procedure, the sensor unit 20 of the cutting part device and the sensor unit 46 of the power tool unit 42 determine data.

[0072] The procedure includes a further transmission step 104, in which the data is transmitted via the cutting device 10 to the construction site robot device 32. In this further transmission step 104, the cutting device 10 adapts at least one data carrier signal to a communication type of the construction site robot device 32.

[0073] In an adaptation step 106 of the procedure, the construction site robot device 32 adapts the signal originating from the construction site robot device 32 to the control of the power tool unit 42 depending on the data.

[0074] In the investigation step 102, further data from a sensor unit (not shown) of the construction site robot device 32 can be determined, which can be taken into account for the adjustment in the adjustment step 106.

Claims

Claims 1. Cutting device (10) to a communication link of a construction site robot device (32) with a power tool unit (42), at least to an automated control of the power tool unit (42).

2. Cutting device (10) according to claim 1 , characterized by a computing unit (12) which is provided to adapt a communication method to the control of the power tool unit (42) depending on the power tool unit (42).

3. Cutting device (10) according to claim 1 or 2, characterized in that the communication connection is provided via a cable.

4. Cutting device (10) according to one of the preceding claims, characterized by a construction site robot device interface (14) which is designed as a fieldbus interface (16).

5. Cutting device (10) according to claim 4, characterized in that the construction site robot device interface (14) is provided for CAN communication, in particular CANopen communication.

6. Cutting device (10) according to one of the preceding claims, characterized by a power tool unit interface (18) which is provided for a connection with a control unit (44) internal to the power tool unit (42).

7. Cutting device (10) according to claim 6, characterized in that the power tool unit interface (18) is provided for internal communication within the device.

8. Cutting device (10) according to claim 6 or 7, characterized in that the power tool unit interface (18) is provided for the transmission of at least one, in particular emulated, switch signal and / or safety signal.

9. Cutting device (10) according to one of the preceding claims, characterized by a sensor unit (20) which in particular has at least one acceleration sensor (22).

10. Cutting device (10) according to claim 8, characterized by a computing unit (12) which is provided to transmit data from the sensor unit (20) to the construction site robot device (32).

11. Cutting device (10) according to one of the preceding claims, characterized by a computing unit (12) which is provided to transmit data from a sensor unit (46) of the power tool unit (42) to the construction site robot device (32).

12. Construction site robot system (50) with a cutting part device (10) according to one of claims 1 to 11, with the construction site robot device (32) and with the power tool unit (42).

13. Construction site robot system (50) according to claim 12, characterized in that the construction site robot device (32) has a control unit (34) which is provided to adapt control signals at least depending on data from at least one sensor unit (20) of the cutting part device (10) and / or at least one sensor unit (46) of the power tool unit (42).

14. Power tool (40) with a cutting device (10) according to any one of claims 1 to 11 and with the power tool unit (42).

15. Method for operating a cutting device (10) according to any one of claims 1 to 10, wherein the construction site robot device (32) and the power tool unit (42) are communicatively connected, at least for the automated control of the power tool unit (42) via the cutting device (10).

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