EP4161736A1 - Hand-held device comprising sensor unit, for characterizing a treated substrate - Google Patents
Hand-held device comprising sensor unit, for characterizing a treated substrateInfo
- Publication number
- EP4161736A1 EP4161736A1 EP21716640.4A EP21716640A EP4161736A1 EP 4161736 A1 EP4161736 A1 EP 4161736A1 EP 21716640 A EP21716640 A EP 21716640A EP 4161736 A1 EP4161736 A1 EP 4161736A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- hand
- subsurface
- sensor
- designed
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
- B25B21/002—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose for special purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F1/00—Combination or multi-purpose hand tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
- B25B21/004—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose of the ratchet type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
- B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
Definitions
- the invention relates to a hand-held device, an arrangement, a method, a computer-readable storage medium and a software program.
- a trained user can derive rough information about the subsurface by examining the drilling dust. Under certain circumstances, white drilling dust can indicate plasterboard or limestone, red drilling dust an underground made of brick, etc. Certain events during the drilling process can also be used to draw certain conclusions: Hardly any drilling progress suggests concrete, cracks in drilling on one Hollow chamber stone, normal drilling progress could indicate a steady subsurface.
- a hand-held device for manual operation by a user having a processing device which is designed for processing a subsurface, and a sensor device which is used to detect sensor data indicative of a condition of the subsurface before, during and / or is formed after the processing of the subsurface.
- an arrangement which has a hand-held device with the features described above and a communication device which is coupled or can be coupled to the hand-held device for transmitting the sensor data from the hand-held device to the communication device in a communicable manner, and has a determination device, which is designed to determine information indicative of the nature of the subsurface based on the transmitted sensor data, the communication device being designed to transmit the information to the hand-held device and the hand-held device being designed to receive the information from the communication device.
- a method for operating a hand-held device (in particular a hand-held device with the features described above) that can be operated manually by a user is provided for processing a subsurface, the method using the hand-held device to detect sensor data indicative of a condition of the subsurface before, during and / or after processing the subsurface by means of the hand-held device, and determining, in particular on the hand-held device or on a communication device coupled to be able to communicate with the hand-held device, information based on the sensor data that is indicative of a condition of the subsoil.
- a program for operating a hand-held device that can be operated manually by a user for processing a subsurface is stored, which program, when executed by one or more processors, has or carries out the method steps described above.
- a software program for example formed by one or more computer program elements
- a software program for example formed by one or more computer program elements
- for operating a hand-held device that can be operated manually by a user for processing a subsurface has the method steps described above (or performs them or controls them ) if it is being executed by one or more processors.
- Embodiments of the present invention can be implemented both by means of a computer program, that is, software, and by means of one or more special electrical circuits, that is, in hardware, or in any hybrid form, that is, by means of software components and hardware components.
- a “hand-held device” can be understood to mean, in particular, a portable device that can be manually operated and carried by a user and with which a subsurface can be processed be drilled in the subsurface and / or a driving force can be applied to a fastening element to be set in a subsurface.
- the driving force can in particular be a rotating or rotational driving force, optionally superimposed with a translational driving force
- the drive force can alternatively also be a purely translational drive force.
- a drive force of a hand-held device can be pneumatic, hydraulic or be an electrical drive force that is generated, for example, by a pneumatic device, a hydraulic device or an electric motor, or it can be a muscle power of a user.
- hand-held tools examples include a cordless screwdriver, a cordless drill, a screwdriver, a pulse screwdriver, a ratchet screwdriver, a drill, an impact wrench and a hammer drill.
- Other examples of hand tools are a screwdriver handle, an angled handle, a ratchet or a torque wrench.
- processing device can be understood to mean in particular a mechanism or an assembly that enables processing, in particular material-removing or drilling-hole-producing processing, of the subsurface It is also possible, however, for the processing device to have a bit accommodated in the chuck for actuating a drive in a head of a fastening element for introducing (with or without pre-drilling) the fastening element into the subsurface by means of the hand-held device Processing the subsurface with the processing device, a fastening element, optionally in combination with a dowel, can be placed in the drilled hole that has been formed.
- a "fastening element” can in particular be understood to mean a body that can be introduced into a substrate or anchoring substrate by means of the hand-held device, in particular rotating Alternatively, the fastening element can also be a nail or a rivet, for example Fastening element can have a self-tapping or self-tapping external thread.
- a fastening element can be inserted into the substrate with or without anchors.
- a dowel can be advantageous, for example, if the substrate has hollow chambers and a pull-out force of a fastening element is not sufficiently great due to the hollow chambers without dowels.
- the term "subsurface” can in particular be understood to mean an anchoring base suitable for anchoring a fastening element.
- Such an anchoring base can in particular be or have a wall, further in particular a vertical wall Wood building materials, but also concrete and masonry building materials, metal or plastic components.
- Such a substrate can also be any composite material made of several different material components.
- the substrate can have cavities or can be solid (ie free of cavities).
- the term “sensor device” can be understood to mean, in particular, one or more sensor elements for generating sensor data that allow a conclusion to be drawn about at least one property of the substrate processed by means of the hand-held device To enable force detection, temperature detection, speed and / or acceleration detection, acoustic detection, haptic detection, electrical, magnetic or electromagnetic detection, etc. It is particularly advantageous to combine several of the named and other detection mechanisms with one another.
- condition of the subsurface can be understood to mean, in particular, any property of the subsurface that is decisive for the processing of the subsurface with the handheld device Related to the processing by the hand-held device or a setting process for setting a fastening element in the substrate.
- quality information with regard to the substrate are its material, its solid or hollow body properties, its hardness, its degree of moisture, etc.
- a hand-held device which is equipped with a sensor device for detecting sensor data indicative of the nature of the subsurface.
- the hand-held device can record sensor data before, during or after processing the subsurface, which allow conclusions to be drawn about the nature of the subsurface.
- a process for processing the subsurface by means of the hand-held device by a user and / or a corresponding post-treatment of the processed subsurface (for example a setting process for setting a fastening element in a previously formed borehole) can be adapted to a determined subsurface condition.
- processing of the subsurface for example forming a borehole or setting a fastening element in the subsurface
- Special specialist knowledge or experience of a user are not required. Since the sensor device is integrated into the hand-held device for processing the subsurface, a user only needs to operate the hand-held device in order to obtain the sensor data for characterizing the subsurface in addition to processing the subsoil with the hand-held device.
- the hand-held device can have a determination device that is used to determine a for the Condition of the subsurface indicative information based on the sensor data is formed.
- the hand-held device itself can therefore autonomously evaluate the sensor data and draw conclusions from this about the nature of the subsurface. Further processing of the subsurface can then be carried out taking into account the condition of the subsurface that has been determined.
- the hand-held device can have a communication device for (in particular wireless or wired) communication with a communication device that can be coupled and is separate from the hand-held device for transmitting the sensor data to the communication device, the communication device for receiving information that is indicative of the nature of the subsurface is formed by the communication device, which can be determined based on the transmitted sensor data on the communication device.
- the sensor data are only recorded on the hand-held device and evaluated centrally on a communication device that is coupled in a communicable manner.
- the hand-held device can be designed to be compact and lightweight, and the data evaluation for determining the nature of the subsurface from the sensor data recorded on the hand-held device can be carried out centrally for many hand-held devices on a shared communication device.
- the processing device can be designed as a drilling device for drilling a hole in the subsurface and / or as a setting device for setting a fastening element in the subsurface.
- the processing device can be designed for at least partial penetration into the subsurface.
- the machining device can in particular have a chuck for receiving a drill, which drill can also be associated with the machining device.
- the hand-held device can preferably be used as a drill with integrated sensors for characterizing the be formed to be drilled underground. It is also possible that, instead of the drill, a bit is received on the chuck in order to screw a fastening element (for example into a previously formed borehole) into the ground.
- the sensor device can have an optical sensor device, in particular a camera, for capturing optical sensor data from the subsurface and / or from the processing device, in particular material from an interior of the subsurface, further in particular drilling dust from an interior of the subsurface .
- the determination device can be designed to determine the information indicative of the nature of the subsurface on the basis of a color of the interior of the subsurface determined from the optical sensor data.
- such an optical sensor device can record an image of the exterior and / or the interior of the borehole. This enables the drilling quality in the subsurface to be determined.
- the material of the subsurface can be characterized or determined by analyzing drill dust and / or a borehole wall by means of an optical sensor device.
- Such an optical sensor device can in particular be used to determine the color of the drilling dust.
- the color of the drilling dust allows conclusions to be drawn about the material of the subsurface. For example, white drilling dust can indicate sand-lime brick or aerated concrete, gray drilling dust can indicate concrete or concrete blocks, red drilling dust can indicate bricks, etc. or damp drilling dust is present. This is because the degree of moisture in a substrate influences its color and is therefore accessible to optical detection.
- the determination device can be designed to determine an error state of the processing device from the optical sensor data. For example, by means of sensor data from an optical sensor device in connection with pattern recognition or the like, it can be determined whether wear marks are exposed in a concrete drill.
- the sensor device can have a distance measuring device, in particular a laser sensor or an ultrasonic sensor, for capturing distance data between the handheld device and the ground.
- the determination device can be designed to determine the information indicative of the nature of the subsurface on the basis of a penetration progress determined from the distance data (for example a drill of the machining device), in particular a time dependency of the penetration progress into the subsurface.
- a distance sensor can, for example, measure a distance between the hand tool and the ground and in this way provide information about the drilling progress. If a drill penetrates into a hollow chamber of a hollow chamber stone, for example, there may be a sudden reduction in the distance until the drill has advanced to the next web of the hollow chamber stone. The occurrence of sudden changes in distance, detected by sensors, can therefore be used as an indicator of the presence of a subsurface with hollow chambers. The length of a jump over time can be used as a measure of the size of a hollow chamber.
- the hand-held device can have a drive device for providing drive energy for driving the processing device for processing the subsurface.
- the sensor device can have a drive energy measuring device, in particular a tachometer of a motor of the drive device, for detecting the drive energy for driving the machining device.
- the determination device can determine the information indicative of the nature of the subsurface, in particular a hardness of the subsurface and / or its presence or a dimension at least one macroscopic cavity can be formed in the subsurface on the basis of the recorded drive energy, in particular a time dependency of the recorded drive energy.
- a sudden, temporary drop in drive energy over a certain period of time can provide information about the existence and / or size of hollow chambers. Motor current, motor torque and / or motor power can or can be reduced as sources of information.
- the sensor device can have a pressing force measuring device for detecting a pressing force of the processing device on the substrate.
- the determination device can then be used to determine the information indicative of the nature of the substrate, in particular a hardness of the substrate and / or the presence or a dimension of at least one macroscopic cavity in the substrate, on the basis of the detected pressure force, in particular a time dependency of the detected pressure force, be trained.
- the contact pressure or the contact pressure can be measured, for example, by a capacitive sensor. The harder the surface, the higher the required contact pressure. During the penetration of cavities in the subsurface, the pressure force drops suddenly and temporarily.
- the sensor device can have a temperature measuring device, in particular an infrared sensor, for detecting a temperature of the processing device during and / or after penetration into the subsurface.
- the determination device can then be designed to determine a hardness of the subsurface and / or a fault condition of the processing device on the basis of the temperature.
- a temperature measuring device can detect the temperature of a drill after a borehole has been formed in the subsurface. The hotter the drill after this one The harder the subsurface is, the harder it is. Overheating of the drill can also be measured by means of such a temperature measuring device. If the last-mentioned error case is recognized, a corresponding measure can be taken (for example output of a warning, emergency stop, etc.).
- the sensor device can have a moisture measuring device for detecting a moisture or a moisture level of the subsurface.
- the determination device can then be designed to determine the information indicative of the nature of the subsurface on the basis of the detected moisture.
- an optical sensor device can be used to measure moisture, since the color of the substrate material differs when it is wet and when it is dry.
- a liquid sensor or a chemical sensor for measuring moisture. The moister the surface, the more delicate a fastening process can be. In the case of a damp subsurface, it may be necessary, for example, to use a longer fastening element or to use an additional dowel in order to ensure sufficient setting force.
- the determination device can be designed to determine the information by comparing the sensor data with previously known data records from a database.
- the database can preferably contain characteristic sensor data for different hand-held devices and different substrates and / or substrate properties. For example, empirical data from experiments, data from model calculations, expert rules and / or elements of artificial intelligence can be used to determine the parameter values of the subsurface (e.g. color of drilling dust, contact pressure, jumps in engine power) properties of the subsurface (e.g. material, hardness) , Cavity size). Then you can go through a database comparison, for example by searching a lookup table, by means of the sensor device detected sensor data can be assigned to properties of the subsurface.
- the hand-held device can have a storage device in which the data records of the database are stored. Said data records can thus be stored in a storage device, for example an electronic mass storage device such as a hard disk, of the hand-held device itself.
- the database comparison for determining the information can then be carried out independently on the handheld device.
- the handheld device can have a communication device for (in particular wireless or wired) communication with another communication device that can be coupled and is separate from the handheld device and on which the data records of the database are stored.
- the hand-held device itself can only acquire sensor data, but can use a communication device that is coupled in a communicable manner to determine the information about the subsurface resulting therefrom.
- the coupling between the communication device of the hand-held device and the communication device can take place, for example, via a wireless communication network, for example the public Internet.
- Such wireless communication is also possible directly, for example by means of Bluetooth. It is also possible to carry out such communication in a wired manner.
- a single communication device can support many hand-held devices simultaneously or sequentially in the database comparison. A single central intelligence can then interact with many simply designed, decentralized handheld devices.
- the handheld device can be a control device for controlling the handheld device (in particular the Processing device and / or a drive device of the hand-held device) based on the determined information indicative of the nature of the subsurface.
- the results of the determined subsurface quality can then form the basis for subsequent operation of the hand-held device for processing the subsurface.
- the hardness of the subsurface can be a measure of which engine output is set by the control device. It is also possible that a torque of a drive motor is temporarily reduced when it reaches the next hollow chamber of the subsurface.
- the handheld device can have a user interface for outputting an operating recommendation for the handheld device - in particular a recommendation for the use of a dowel for the substrate and / or a fastening element - based on the determined information indicative of the nature of the substrate.
- the user interface can have a graphical user interface with a graphical display device, for example a liquid crystal display.
- a recommendation for the treatment of the subsurface that has previously been characterized in terms of its condition can be issued there. If, for example, it is recognized that the substrate is a substrate with large cavities, the use of a correspondingly dimensioned dowel in combination with an associated fastening element (for example a suitable screw) can be proposed. In this way, a user can be given an operating mode tailored to the previously unknown subsurface in an intuitive manner.
- the user interface for outputting the operating recommendation for the handheld device - in particular the recommendation for the use of the dowel and / or the fastening element for the subsurface - can additionally be designed based on a user-specified load requirement for anchoring a fastening element in the subsurface.
- the The user suggestion for processing the subsurface characterized in terms of its condition can advantageously be refined to the effect that, in addition to the condition of the subsurface determined, a load requirement specified by the user (for example a guaranteed load capacity or pull-out force) is also taken into account. In this way, a failure of a fastening element in the subsurface can be prevented with a high degree of probability, since both a load occurring during operation and the actual condition of the subsurface can be included in the user proposal.
- the sensor device can be designed to detect or recognize a fastening element to be set.
- the hand-held device can advantageously have a control device which is designed to control the processing device for setting the fastening element based on a result of the detection or recognition.
- a fastening element used with the hand-held device can be recognized by sensors (for example M8 screw 100 mm in length with Torx drive).
- the recognized fastening element can be included in an algorithm which, for example, using database information from the input data supplied, calculates the setting of the recognized fastening element accordingly and then controls it.
- the hand-held device can be a drill.
- the hand-held device can be a cordless screwdriver, a cordless drill, a screwdriver, an impulse screwdriver, a ratchet screwdriver, an impact screwdriver and / or a hammer drill or have a corresponding functionality.
- the sensor device can have at least two different sensor types which are designed independently of one another and according to different sensor principles for detecting sensor data indicative of a condition of the subsurface. The determination device can then be designed to determine the information based on the sensor data in such a way that determined information is only accepted or further used if it is provided by the at least two different sensor types independently of one another and in harmony with one another.
- Different sensor types can be, for example, the optical sensor device described above and a force sensor. Because of the different sensor principles assigned to them, the sensor data they supply can be viewed as complementary or independent of one another. Only if a certain property of the subsurface, for example a characterization of cavities in the subsurface, is mutually and consistently indicated by both or even all sensor types used, the ascertained condition of the subsurface is confirmed or further used, otherwise it can be rejected as insufficiently reliable. In this way, incorrect outputs can be effectively suppressed.
- a certain property of the subsurface for example a characterization of cavities in the subsurface
- the hand-held device can be designed to transmit and the communication device can be designed to receive and store information that documents an actual drilling of boreholes and an actual setting of fastening elements in the subsurface, ie indicating an actual state of the subsurface cultivation .
- a target state of the subsurface processing can be predefined and compared with the determined actual state.
- the building documentation indicates which fastening elements in which drill holes at which positions of the Are set underground. By storing this data for the documentation of an actual building work, it can be checked whether the target setting data correspond to the reality according to a given plan.
- the method can include processing the subsurface by means of a robot, the robot performing the processing of the subsurface by means of the hand-held device using at least part of the sensor data.
- a robot can automatically process a specified subsurface treatment protocol. Since a hand-held device is equipped with sensors in accordance with an exemplary embodiment of the invention, it is particularly well suited for robot-operated execution of underground work tasks.
- the sensor data can be transmitted to the robot.
- the robot can, for example, process a predefined subsurface processing protocol using the hand-held device, for example generate a sequence of boreholes and insert a respective fastening element into them.
- the sensor data can enable the robot to operate the handheld device in a particularly error-resistant manner.
- a condition of the subsoil for example: "subsoil is solid concrete”
- the subsoil processing protocol for example: "set wood screw without pre-drilling”
- an appropriate measure can be taken (for example, aborting the subsurface processing, outputting an error message, etc.).
- FIG. 1 shows a hand-held device designed as a drill with an integrated sensor device and a determination device for determining a Condition of a subsurface according to an exemplary embodiment of the invention.
- FIG. 2 shows an arrangement of a hand-held device designed as a drill with an integrated sensor device and a communication device coupled therewith capable of communicating with a determination device for determining the nature of a subsurface according to another exemplary embodiment of the invention.
- Figure 3 to Figure 5 show substrates measured in a laboratory, which were processed by means of a handheld device, for filling a database with data records for correlating the properties of substrates with sensor data and characteristics of processing such substrates with a handheld device according to an exemplary embodiment of the invention.
- a hand-held device in particular a drilling machine
- Sensor data detected by means of the hand-held device can be processed further by the hand-held device or a communication device coupled to it for data exchange in order to derive information characterizing the subsurface from the sensor data.
- a combination of drill and drill can be equipped with at least one sensor for measuring the depth of the borehole and / or the drilling progress.
- a jerky or even drilling progress can be an indicator of the presence of a hollow stone or solid stone in the subsurface.
- a sensor is provided to determine the force required to drill a borehole or to set a fastening element in the ground, it can be determined by sensors how hard the hand-held device has to work for the drilling or setting process. This in turn allows conclusions to be drawn about the subsurface, in particular its hardness and / or material. If, for example, aerated concrete is present, this can be indicated by white drilling dust detected by means of an optical sensor system and only a small amount of force or energy to create the borehole. A subsurface made of solid sand-lime brick can be identified using white drill dust and increased effort to create the borehole.
- the combination of a sensor-recognized drilling dust color and a sensor-recognized drilling force is a particularly reliable indicator of the condition of the subsoil.
- a hand-held device can communicate with a communication device with which a drilling and / or setting plan for a building or a subsurface is managed.
- data can be beneficial for the
- Building documentation can be stored. It can then be checked whether the data from such a plan match the reality in the underground.
- the screwdriver can use data from the drill and results from laboratory tests (which can be stored in a database, for example) to suggest at least one torque for the future setting of masonry screws.
- laboratory tests which can be stored in a database, for example.
- the approach described here with a focus on a drilling machine can also advantageously be transferred to other machines or hand-held devices.
- the tightening of the screw can be controlled on the basis of the nature of the subsurface detected by sensors and determined by means of sensor data processing.
- a torque for setting the fastening element can be increased or decreased, depending on the distance from the ground, etc.
- a camera can automatically register the emerging drill dust so that the material of the subsurface can be delimited on the basis of the image data and their evaluation.
- a force sensor or pressure sensor can detect the pressure exerted during drilling, which provides further information about the hardness of the subsurface. If, in particular, at least two or more sensor-recorded values are combined or considered in combination for consistency or discrepancies, a particularly reliable or meaningful conclusion can be drawn about the background. Possible inaccuracies or inaccuracies with regard to only a sensor measurement can advantageously be avoided by combining several different sensor measurements.
- Data records in a database that can be compared with sensor data recorded by sensors to derive information about the nature of the subsurface can be generated, for example, in a laboratory, further in particular in a dowel laboratory.
- dowel laboratory for example as a basis for the approval of individual dowels
- dowels can be set in various substrates with appropriate test holes.
- the drilling progress, color of the drilling dust, etc. can be recorded and the data can be stored centrally in a database (for example on a server).
- a user for example a craftsman
- his drilling machine records corresponding sensor data, transmits this sensor data to the said server and receives a feedback or forecast from there as to which subsurface is or is likely to be present.
- the craftsman can then choose a dowel or receive a proposal directly as to which dowel is suitable for this substrate.
- a hand-held device designed as a drill can use a force sensor to detect the force applied to create the borehole.
- conclusions can be drawn about the strength of the subsurface (especially in the case of masonry).
- a hole pattern in the subsurface for example masonry
- a camera to determine the color of the drilling dust can then be used to characterize the subsurface.
- the tangential screwdriver can set the correct torque that is suitable for the characterized subsurface, for example to prevent the Concrete screw in the borehole and / or shearing of the concrete screw head to avoid.
- one or more additional sensors can be provided in and / or on the drilling machine, any combination being possible depending on the application.
- additional sensors are:
- Infrared sensor for detecting infrared radiation emitted, for example, from a heated drill in the hand-held device
- a range finder can be designed as an ultrasonic sensor, laser beam sensor or 3D acceleration sensor, for example.
- a hole pattern in the subsurface can be recognized using such a range finder in conjunction with a force sensor.
- the drilling progress can be recorded by the distance sensor, in particular whether there is jerky progress, which suggests hollow-chamber bricks.
- a drill or other hand-held device can use a force sensor to detect the force applied to create the borehole. This allows conclusions to be drawn about the strength of the subsurface (especially in the case of masonry).
- An infrared sensor can be provided to record the temperature of the drill after the drilling process.
- the color of the drilling dust can be determined with a camera or the like, and on this basis it is possible to characterize the subsurface.
- a camera registers the emerging drill dust and can then delimit the material of the subsurface. This can advantageously be combined with a determination of whether dry or moist drilling dust is present. If all these values are brought together, it is possible to draw conclusions about the subsurface.
- a suitable anchor can also be made on the basis of ascertained knowledge of the nature of the subsurface. This can advantageously be supplemented by the user entering the required load. As a result, better or more suitable suggestions can be specifically submitted by software for the present application and for the present subsurface as well as the load desired by the user, for example by means of a software-based dowel system proposed.
- a WLAN connection or a data cable can be used to provide communication between a hand-held device (for example a drill) and a communication device (for example a computer).
- a hand-held device for example a drill
- a communication device for example a computer
- Another application of a drilling machine relates to the scenario that the drilling machine detects a component to be set.
- the drilling machine can then use the data from the drilling machine and the results of laboratory tests to suggest at least a torque for future masonry screws and even control the screwing-in process according to the determined subsurface condition. If there is a wood screw, the torque can be increased and decreased, depending on the distance from the subsurface, etc. If, on the other hand, a concrete screw or a concrete anchor is present, the correct torque for this subsurface can be set for setting.
- FIG. 1 shows a hand-held device 100 embodied as a drilling machine with an integrated sensor device 106 and determination device 108 for determining the nature of a subsurface 104 according to an exemplary embodiment of the invention.
- the illustrated hand-held device 100 which is designed as a drill, has a drill 160 which is mounted on a chuck 162 in an exchangeable manner.
- the chuck 162 and consequently the drill 160 are driven in rotation by means of a drive device 114 designed as an electric motor in order to produce a borehole in a subsurface 104 (for example a concrete wall or a hollow brick wall).
- the drive device 114 receives drive energy from an accumulator 164 or, alternatively, a cable connection to a power grid.
- the drive device 114 is controlled by a control device 122, a user being able to influence the control of the hand-held device 100 by means of the control device 122 by actuating an actuation device 166 on a handle 170.
- the hand-held device 100 shown in FIG. 1 is designed as a portable drilling device for manual operation by a user and has a processing device 102 which is configured for drilling processing of the subsurface 104, ie for forming a borehole in the subsoil 104.
- the processing device 102 is formed from the drill 160 and the chuck 162. In operation, the machining device 102 penetrates with its drill 160 into the subsurface 104 when a borehole is drilled in the subsurface 104.
- the hand-held device 100 contains a sensor device 106 formed from a plurality of individual sensors according to FIG.
- the nature of the subsurface 104 is understood to mean, for example, the material of the subsurface 104, the hardness of the subsurface 104 as well as the presence or absence and possibly the size of hollow chambers in the subsurface 104.
- the sensor device 106 is described in more detail below.
- the handheld device 100 has a determination device 108 embodied, for example, as a processor 128, as a plurality of processors 128 or as part of a processor 128.
- the determination device 108 is designed to determine information indicative of the nature of the subsurface 104, i.e. information indicating the nature of the subsurface 104, based on the sensor data that are detected by the sensors of the sensor device 106 and provided to the determination device 108.
- the sensor device 106 has an optical sensor device 130 which, in the exemplary embodiment shown, is designed as a camera mounted on the housing 168. This serves to acquire optical sensor data from the subsurface 104, that is to say records an image 198 of a processed area of the subsurface 104.
- the camera can also capture an image of the drill 160 or a portion thereof. It is particularly preferred it is that by means of the camera drilling dust which emerges from an interior of the subsurface 104 when drilling a borehole by means of the machining device 102 is detected.
- the determination device 108 is used to determine the information indicative of the nature of the subsurface 104 on the basis of a color of the drilling dust from the interior of the substrate 104 determined from the optical sensor data.
- the material of the substrate 104 can be inferred from the color of the drilling dust , in particular if data records that have been previously stored in this regard are contained in a database 120 (which can also be designed in accordance with FIG. 2, for example).
- the database 120 can be stored in a storage device 118 of the hand-held device 100.
- the determination device 108 detects a possible error state of the processing device 102 on the basis of the optical sensor data. For example, it can be recognized from an image recorded by means of the camera that wear marks of the drill 160 are exposed, which indicate wear of the drill 102. At a user interface 124 designed, for example, as a display device, an alarm can then be output to a user that the drill 160 is worn and should be replaced.
- the camera can also be used as a moisture measuring device for detecting the moisture of the subsurface 104, since a color of the drilling dust that can be detected by the camera differs in the moist state and in the dry state.
- the moisture content of the substrate 104 can also be determined or at least estimated using the sensor data of the camera by means of the determination device 108.
- the sensor device 106 contains a distance measuring device 132, which is designed, for example, as a laser sensor or an ultrasonic sensor.
- the determination device 108 functions in a corresponding manner to determine those indicative of the nature of the subsurface 104 Information based on the progress of penetration of the drill 160 into the subsurface 104 determined from the distance data. In particular, a time dependency of the penetration progress of the drill 160 into the subsurface 104 is of interest, since the existence of cavities in the subsurface 104 can be derived from this. If the distance changes abruptly, the drill 160 is immersed in a new cavity. After reaching the next web in the subsurface 104, the distance is reduced very slightly over time until the next cavity and thus the next sudden reduction in distance is reached.
- the hand-held device 100 contains a drive device 114, embodied here as an electric motor, for providing drive energy for driving the machining device 102, in particular for driving the chuck 162 and consequently the drill 160 connected to it in a rotationally fixed manner
- a drive energy measuring device 134 which can be designed, for example, as a tachometer of the electric motor of the drive device 114.
- the drive energy measuring device 134 serves to detect the drive energy for driving the processing device 102.
- the determination device 108 in turn functions to determine the information indicative of the nature of the substrate 104 in the form of a hardness of the substrate 104 and / or the presence or a dimension of at least one macroscopic cavity ( See reference numeral 116 in FIG. 3 to FIG.
- the sensor device 106 has a pressing force measuring device 136 for, for example, capacitive detection of a pressing force of the processing device 102 on the substrate 104.
- the determination device 108 is used to determine the information indicative of the nature of the substrate 104, namely a hardness of the substrate 104 and / or the presence or a dimension of at least one macroscopic cavity 116 in the substrate 104 on the basis of a time dependency of the detected pressure force. If the pressing force is suddenly reduced, the drill 160 is immersed in a new cavity. After reaching the next web in the substrate 104, the pressure force increases again until the next cavity is reached.
- the sensor device 106 has a temperature measuring device 138, which can be designed as an infrared sensor. Therefore, the temperature measuring device 138 is used to detect a temperature of the processing device 102, more precisely the drill 160, during and / or after penetration into the substrate 104.
- the determination device 108 is accordingly for determining a hardness of the substrate 104 and / or a fault state of the processing device 102 is formed on the basis of the detected temperature. The higher the hardness of the subsurface 104, the more pronounced the temperature increase of the drill 160 when creating the borehole in the subsurface 104. If a temperature of the drill 160 is detected above a permissible range, a warning message can or even be output to a user by means of the user interface 124 the operation of the handheld device 100 can be stopped by means of an emergency stop.
- the sensor data of the various sensors of the sensor device 106 are fed to the determination device 108.
- the determination device 108 is designed to determine the information by comparing the sensor data with previously known data records from the hand-held device database 120.
- the hand-held device 100 has a storage device 118 in which the data records of the database 120 are stored.
- the database 120 can be filled with data records, for example in a laboratory on the basis of experimental Subsurface processing operations are obtained.
- the database 120 can contain assigned properties of different substrates 104 for different handheld devices 100 and for different sensor devices 106 or assigned sensor data. A data comparison between the sensor data and the data in the database 120 then allows the subsurface 104 to be characterized.
- the control device 122 is advantageously designed to control the processing device 102 based on the information determined and indicative of the nature of the subsurface 104.
- the control device 122 can use the sensor-based characterization of the subsurface 104 as an opportunity to appropriately adapt subsequent processing of the subsurface 104 by means of the drill 160 or by means of a bit for setting a fastening element in a borehole. If the characterization of the subsurface 104 has revealed the presence and dimensions of cavities 116, for example, the drive energy of the drive device 114 can be regulated down by the drill 160 before the next cavity 116 is reached.
- the handheld device 100 has a display device or graphical user interface 124 for outputting an operating recommendation for the handheld device 100.
- a recommendation for the use of a dowel for a subsurface 104 characterized in terms of its composition can be output to a user in an intuitive manner.
- This recommendation can be created based on the ascertained information that is indicative of the nature of the subsurface 104.
- the user interface 124 can be designed to output the operating recommendation for the handheld device 100, based on a load requirement specified by the user, for anchoring a fastening element in the substrate 104.
- a user can enter a load request, for example by means of the user interface 124, which is a setting task for a Fastener should reach at least.
- the control device 122 can then control the operation of the hand-held device 100 in such a way that the subsurface 104 characterized by sensors and the specified load requirement are taken into account in the suggested proposal or the recommendation made.
- the sensor device 106 can be designed to recognize or detect the fastening element to be set.
- the control device 122 can then be designed to control the processing device 102 for setting the fastening element based on a result of the detection or recognition.
- the combinatorial detection of several different or complementary sensor data by means of a sensor device 106 that includes different sensor types 130, 132, 134, 136, 138 has proven to be a powerful way of drawing artificial and possibly incorrect conclusions with regard to the To exclude or at least greatly suppress the nature of the substrate 104 which, if only one sensor type is taken into account, can lead to incorrect outputs under unfavorable circumstances.
- the determination device 108 can be designed to accept a conclusion about a condition of the subsurface 104 based on sensor data as correct only if at least two different sensor types 130, 132, 134, 136, 138 consistently indicate this condition of the subsurface 104.
- FIG. 2 shows an arrangement 126 comprising a hand-held device 100 designed as a drilling machine with an integrated sensor device 106 and a communication device 112 coupled to it capable of communicating with a determination device 108 for determining a condition of a Subsurface 104 according to another exemplary embodiment of the invention.
- the arrangement 126 shown in FIG. 2 thus has the hand-held device 100 in the form of a drill according to FIG. 2 and the communication device 112, which is coupled to the hand-held device 100 for transmitting the sensor data from the hand-held device 100 to the communication device 112 in a communicable manner.
- a determination device 108 forms part of the communication device 112 (and not of the hand-held device 100). Said determination device 108 is designed to determine information indicative of the nature of the subsurface 104 based on the transmitted sensor data.
- the communication device 112 is designed to transmit the information to the hand-held device 100 and the hand-held device 100 is designed to receive the information from the communication device 112. According to FIG.
- the hand-held device 100 is equipped with a communication device 110 which, for example, is wirelessly coupled to a transmit / receive antenna 176 of the communication device 112 via a transmit / receive antenna 174.
- the communication between communication device 112 and hand-held device 100 can take place wirelessly, i.e. by means of electromagnetic waves 178.
- the communication device 112 and the hand-held device 100 can be coupled to one another by means of a communication network 180, for example the public Internet.
- the hand-held device 100 and the communication device 112 are designed as separate devices that can be used freely at different locations.
- the hand-held device 100 uses its sensor device 106, for example in the manner shown in FIG. 1, to determine sensor data which can be used to characterize the nature of the subsurface 104. According to FIG. 2, however, these are not evaluated in the hand-held device 100 itself. Instead, the sensor data are transmitted wirelessly from the handheld device 100 to the communication device 112. The evaluation of the sensor data takes place in the communication device 112 in the determination device provided there 108.
- the determination device 108 of the communication device 112 can also access data records in a database 120 which are stored in a storage device 118 (for example a hard disk or some other electronic mass storage device) of the communication device 112.
- the communication device 112 can then wirelessly transmit its conclusions about the nature of the subsurface 104 to the hand-held device 100.
- the hand-held device 100 can control or set the operation of the hand-held device 100 by means of its control device 122, for example in the manner described in FIG. 1, taking into account the determined nature of the subsurface 104. It is also possible for the handheld device 100 to then display a corresponding output via the user interface 124 to a use of the handheld device 100.
- the communication device 112 can be designed, for example, as a central server that can operate several decentralized hand-held devices 100. In this way it is possible to provide a central intelligence and a central database 120 in the communication device 112 and to design the many portable hand-held devices 100 in a compact, lightweight and simple manner in terms of hardware. All of these handheld devices 100 can be supplied via a single central server in the form of the communication device 112 with evaluation logic for the central determination of the nature of the subsoil 104 they are working on on the basis of the sensor data recorded by them in a decentralized manner.
- the arrangement 126 can be used to ensure correct processing of a subsurface processing plan by means of the hand-held device 100 shown in FIG.
- a plan can be stored in the database 120 of the communication device 112 and thus at a central location.
- a plan can be known to a craftsman who operates the hand-held device 100 in a decentralized position for processing the subsurface 104 shown in FIG.
- Such a plan can, for example, be used for a large number of positions on the ground 104 Specify the anchoring of certain fastening elements (e.g. screws) in a predefined manner.
- the handheld device 100 can transmit to the communication device 112 actual positions and types of fastening elements (screws, dowels, etc.) used for this purpose.
- the hand-held device 100 can thus be designed to transmit and the communication device 112 can be designed to receive and store - in the database 120 - information that documents the drilling of boreholes and the setting of fastening elements in the subsurface 104.
- Substrates 104 that have been processed by means of a hand-held device 100.
- the measured substrates 104 are used to fill a database 120 with data records for correlating the properties of the substrate 104 and characteristics of processing such substrates 104 with a handheld device 100 according to an exemplary embodiment of the invention.
- FIG. 3 a cross-sectional view of a substrate 104 with cavities 116 and webs 190 arranged between them is shown. Some of the cavities 116 can be filled with insulation 192, for example. A yardstick 194 or the like can be used to measure the geometry of the subsurface 104, for example an expansion of the cavities 116. Furthermore, a drill bit 160 can be used to form a borehole in the subsurface 104 and during this process sensor data can be recorded.
- FIG. 4 and FIG. 5 show further corresponding views. According to FIG. 3 to FIG. 5, for example, drilling experiments can be carried out on the substrates 104. In this case, sensor data can be recorded using sensor devices 106, as shown and described in FIG. 1 and FIG. 2.
- test substrates 104 can be characterized by measurement technology, for example information about the arrangement of the cavities 116, the positions of the insulation 192 and the positions of the webs 190 can be assigned to the sensor data. All of this information can be filled in a database 120 with data records which, according to FIG. 1 or FIG. 2, can then be used to determine the nature of a respective subsurface 104 by a database comparison of the basis of detectable sensor data.
- a hand-held device can be equipped with one or preferably more sensors
- the hand-held device is particularly suitable for automatic operation, for example using a robot.
- a corresponding robot-assisted operation of the hand-held device can be carried out according to an exemplary embodiment of the invention, for example as follows:
- the robot drives the hand-held device to a specified target location on the ground.
- the sensor (s) detects / detect a contact between the handheld device and the subsurface.
- the underground processing process (for example a drilling process) is carried out by means of the robot when contact is detected.
- the at least one sensor detects the achievement of a predetermined goal of the subsurface treatment process (for example the achievement of a desired setting depth), which triggers the termination of the subsurface treatment process (for example a setting process).
- the robot then moves the hand-held device to a next target location (in particular on the same surface), to a subsequent one To carry out the subsurface preparation process.
- the robot can, for example, use a predetermined protocol (for example, a drilling protocol) of several
- the substrate processing process can be interrupted or aborted or terminated and an error message can optionally be output.
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PCT/EP2021/057970 WO2021244788A1 (en) | 2020-06-05 | 2021-03-26 | Hand-held device comprising sensor unit, for characterizing a treated substrate |
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DE10303006B4 (en) | 2003-01-27 | 2019-01-03 | Hilti Aktiengesellschaft | Hand-held implement |
DE102004017939A1 (en) | 2004-04-14 | 2005-11-03 | Robert Bosch Gmbh | Guided machine tool and method for operating a guided machine tool |
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DE102011007648A1 (en) | 2011-04-19 | 2012-10-25 | Robert Bosch Gmbh | Hand tool machine has transmission that is provided for driving drive shaft and is driven by engine, where transmission is switched between two gears over semi-automatic transmission switching device in operation of hand tool machine |
US10130985B2 (en) * | 2012-01-30 | 2018-11-20 | Fatigue Technology, Inc. | Smart installation/processing systems, components, and methods of operating the same |
DE102013212592A1 (en) * | 2013-06-28 | 2014-12-31 | Robert Bosch Gmbh | Hand machine tool switching device |
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US20160167186A1 (en) * | 2014-12-12 | 2016-06-16 | Elwha Llc | Power tools and methods for controlling the same |
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