EP4264384A1

EP4264384A1 - Machine tool system and method for controlling a mobile machine tool

Info

Publication number: EP4264384A1
Application number: EP21794580.7A
Authority: EP
Inventors: Sasha Lukic; Peter Brugger; Julia Zanona; Eirik Strand
Original assignee: Hilti AG
Current assignee: Hilti AG
Priority date: 2020-12-17
Filing date: 2021-10-20
Publication date: 2023-10-25
Also published as: WO2022128211A1; JP2023552629A; EP4016212A1; US20240009847A1; CN116457155A

Abstract

The invention relates to a machine tool system (10) for a construction site (38), comprising: a mobile machine tool (12), in particular a construction robot, preferably for use in construction above and below ground, the mobile machine tool (12) being designed for work, in particular with a tool (14), at at least one working position (50) of the construction site (38); a control unit (20) for controlling the mobile machine tool (12), comprising a microprocessor unit (21) and a program code memory unit (22) in which program code which can be executed on the microprocessor unit (21) can be stored; and a component data memory unit (24) in which at least one component data set for at least one component (44) to be used on the construction site (38) can be stored, wherein the control unit (20) is designed to determine the working position (50) using a component data set stored in the component data memory unit (24). The invention also relates to a method (100) for controlling a mobile machine tool (10). With the invention, subsequent damage owing to improper installation of components (44) can be avoided.

Description

Machine tool system and method for controlling a mobile machine tool

description

The invention is based on a machine tool system for a construction site, comprising a mobile machine tool, the mobile machine tool being set up for work, in particular with a tool, at at least one working position on the construction site.

In the past, there have always been serious accidents due to improperly installed components on a construction site. In addition, the service life of a building can be significantly reduced by improperly installed components.

The object of the present invention is therefore to offer a machine tool system for a construction site with a mobile machine tool and a method for controlling a mobile machine tool on a construction site, which enable work to be carried out safely on the construction site in the long term.

The object is achieved by a machine tool system for a construction site, comprising a mobile machine tool, the mobile machine tool being set up for work, in particular with a tool, at at least one work position on the construction site, a control unit for controlling the mobile machine tool, comprising a microprocessor unit and a Program code storage unit in which program code executable on the microprocessor unit can be stored, and a component data storage unit in which at least one component data set for at least one component to be used on the construction site can be stored, the control unit being set up to determine the working position using a component data set stored in the component data storage unit . One idea on which the invention is based is therefore to determine the working position using the stored component data record. Such a determination of the working position can be understood in particular as an active determination of the working position, for example a calculation of the working position or at least an active check of a specified position value for suitability as a working position to be determined, in particular in contrast to a specification, for example by a user of the machine tool system. It is therefore no longer necessary for the user of the machine tool system to set and/or specify the working position. This makes it possible to coordinate the working position on the component data set. If the component data record includes, for example, a security indication that the working position must at least maintain a certain distance from an edge of the component, this can be taken into account when determining the working position. This consideration can take place automatically by the machine tool system, in particular by the control unit. It can thus be ensured in a surprisingly simple manner that one or more requirements, in particular safety requirements, of the component are met when the work is being performed. The risk of improper assembly of the component and the subsequent risk to persons or objects associated with it can thus be significantly reduced or even completely eliminated.

The mobile machine tool can be a construction robot. The mobile machine tool, in particular the construction robot, can preferably be set up for use in building construction and/or civil engineering. In particular, it may not be suitable for use in mining.

The tool can be a drilling tool, a chisel tool, a cutting tool, a sawing tool, a setting tool, for example for setting a connecting element, for example a screw or a nail, a grinding tool or a marking tool, for example a spray nozzle, and/or include such a tool .

The component to be used can be a wall, a ceiling or a floor of the construction site, for example of a building to be erected. The component can also be a structural element. For example, the component can be a ceiling element, a wall element, an installation element, a connecting element, for example a screw anchor, or the like. The control unit can form part of the mobile machine tool. It can also be designed separately from the mobile machine tool, in particular separately from the rest of the control unit. At least part of the control unit can be designed to be portable.

The component data record can include a component type, for example the type of ceiling element, a material, for example steel or concrete, and/or a dimension, for example a dimension. It is conceivable that the component data record includes a dimension for a relative working position within the relevant component type.

In a further embodiment of the invention, the control unit can be set up to determine the working position using a construction site data record of a construction site data storage unit. For this purpose, the control unit can include a construction site data storage unit in which at least one construction site data set can be stored. The construction site data record can correspond to an actual value or a target value. For example, the construction site data record can come from a Building Information Model (BIM) plan.

While the component data record can thus include information related to the component, the construction site data record can include information related to the construction site.

In this way, safety requirements can be taken into account when determining the working position, which result from the interaction of the component with the construction site.

For example, a requirement can be that the component, for example a support element, may only be mounted at a certain minimum distance from an edge of a wall. The construction site data record can then include a measurement of the wall, for example the position and/or location of the wall, in particular its edges. The component data record can include an indication of the type of component, in this case the type of support element. Another component data record can include information about a relative position and a relative location of a bore in the support element relative to a corner point of the support element. A working position, in particular a drilling position within the wall, can thus be determined using the component data sets in conjunction with the construction site data set by suitable summation, so that the requirement with regard to the minimum distance is met. The control unit can also be set up to determine the working position using a rule data set of a rule data storage unit. For this purpose, the control unit can include a rule data storage unit in which at least one rule data set can be stored. The rule data record can include rules on the relative relationship between at least two components and/or on the relative relationship between at least one component and the construction site. For example, the rule data record can include a rule for the areal arrangement of the component or components within the construction site. The rule data record can also include information on a security requirement, for example on the requirement mentioned above. Such a rule data record makes it possible in a particularly simple manner for the machine tool system, in particular the control unit, to be set up to determine a plurality of working positions, for example different components, according to a rule present in the form of a rule data record. It is thus possible for the machine tool system to take into account not only safety requirements but also other requirements such as aesthetic requirements or the like when determining at least one working position.

The control unit can be set up to determine the working position by modifying a predefined target working position, in particular using the component data set, the construction site data set and/or the standard data set. In particular, it is conceivable that the working position is already predefined in the form of the desired working position. For example, the target work position can come from a BIM planning system.

The machine tool system, in particular the control unit, can be set up to compare the target working position with the component data record and/or with the construction site data record. In particular, it can be set up to determine whether all requirements relevant to the work position to be determined, including the rules of the standard data record, can be fulfilled and/or are fulfilled at the same time.

If all requirements have already been met, the desired working position can be accepted unchanged as the working position to be determined by the machine tool system, in particular by the control unit.

If there is a mutual, irresolvable conflict between different requirements, the machine tool system, in particular the control unit, can be set up to automatically go through a conflict resolution process and/or to request interaction from the user of the machine tool system.

If the target working position conflicts with one or more of the requirements, the machine tool system, in particular the control unit, can be set up to determine an offset, so that all requirements are met when the target working position is shifted by the offset. The machine tool system, in particular the control unit, can be set up, in particular in the usual case that different offsets are possible, to determine the offset with the smallest possible offset distance from among all possible offsets. Alternatively or additionally, it is conceivable for this case that the machine tool system, in particular the control unit, is set up to request a corresponding selection of an offset from a user.

The working position to be determined can thus be or will be determined by modifying the target working position, in particular according to the position that results after the target working position has been shifted by the offset determined.

In a particularly advantageous class of embodiment of the invention, the control unit has a detection sensor for detecting at least one component data set and/or one construction site data set.

In particular, the detection sensor can include an image recording unit, for example an optical camera, for recording a one-, two- and/or three-dimensional image. Alternatively or additionally, the detection sensor can include a distance meter. The distance meter can be a laser distance meter. The detection sensor can be arranged on the control unit and/or on the mobile machine tool. Alternatively, it can also be arranged independently of the control unit and/or independently of the mobile machine tool, in particular on the construction site.

The detection sensor can be set up to automatically determine the component data record and/or the construction site data record.

For this purpose, the control unit can include an analysis unit for analyzing the image. The control unit can thus be set up to recognize the component and/or to determine a position, a location and/or a dimension of the component within the construction site. The control unit can also be set up to recognize the construction site and/or to recognize a position, location and/or dimension within the construction site. For example, the machine tool system, in particular the control unit and preferably using the detection sensor, can be set up to determine at least one dimension of a room, a wall, a ceiling and/or a floor located on the construction site.

The analysis unit is preferably designed to be self-learning. For this purpose, it can include an artificial neural network, for example in the form of a deep learning unit.

The machine tool system according to the invention can be used in particular for frequently recurring work.

It is therefore favorable if the mobile machine tool is set up for drilling, hammer drilling and/or chiselling.

It is particularly advantageous that a machine tool system according to the invention, which is set up for drilling and/or hammer drilling, for example, enables a forward-looking implementation of work. In particular, the machine tool system can be set up, for example by means of suitable control data sets, to recognize that one of the target working positions of bores needs to be modified and that all the bores related to this target working position need to be changed accordingly, so that ultimately components despite Modification of the target working positions can be mounted properly and coherently.

For example, with regard to a first ceiling element, the machine tool system can recognize that the first ceiling element has to be offset in reality compared to a position defined in a BIM plan, since the ceiling on which the ceiling element is to be mounted is also in reality is in a different position compared to the BIM plan. The machine tool system according to the invention can then be set up to also offset all other ceiling elements to be mounted on the ceiling or the bores required for the installation of the ceiling elements accordingly, so that in the end the ceiling elements are offset compared to the BIM planning, but in themselves

6

ADJUSTED SHEET (RULE 91) ISA/EP are consistent and can be mounted on the ceiling according to all requirements without further rework.

This also enables the machine tool system to be operated as highly automated as possible.

With previously known systems, on the other hand, there was the problem that assembly problems arising due to unsuitably placed bores could sometimes only be recognized at a much later point in time and led to considerable dismantling and rework. Such interruptions and necessary manual interventions thus limited the degree of automation that could previously be achieved with construction robots.

It is also conceivable that the mobile machine tool is set up to select the tool to be used to carry out the work from a set of tools. For this purpose, the mobile machine tool can be equipped with a tool changing system. It can also have a tool tray for storing one or more tools.

The mobile machine tool can particularly preferably be set up to select the tool to be used to carry out the work on the basis of the component data record and/or on the basis of the construction site data record. The mobile machine tool can thus be set up, for example, to select a drilling tool of a suitable size from a set of drilling tools of different sizes depending on a component data record in which a diameter of a drilled hole to be made in the component is stored.

A particularly broad field of application results for the machine tool system if at least one element of the machine tool system, in particular the mobile machine tool or the control unit or at least part of the control unit, can be operated wirelessly. For this purpose, it can have at least one rechargeable battery, for example a lithium-based battery, and/or a fuel cell.

The control unit can have a display unit for communication with a user. The display unit can be set up to display the working position.

For safety reasons, the control unit can be set up to only start the work of the mobile machine tool after a positive acknowledgment from a user.

7

ADJUSTED SHEET (RULE 91) ISA/EP In a particularly user-friendly embodiment of the invention, the control unit can have a display unit, in particular for displaying an augmented reality (AR) image. The AR image can be in the form of a mixed reality (MR) image or in the form of a virtual reality (VR) image. In particular, the control unit can be set up to map the specific working position and/or a comparison between the target working position and the working position.

At least one element of the control unit can be cloud-based. The at least one element can be used with the rest of the machine tool system and/or can be or is connected to the rest of the machine tool system via a network, for example a mobile radio-based network or generally the Internet.

At least two of the memory units can be formed using at least one shared electronic component. In particular, two or more of the memory units can be formed using the same memory components.

In particular, it is conceivable that the component data storage unit or at least part of the component data storage unit is embodied in one or more remote, in particular cloud-based, storage systems. It is thus conceivable that the component data storage unit is designed as part of one or more component databases or at least in part from the one or more component databases of one or more manufacturers of components.

The scope of the invention also includes a method for controlling a mobile machine tool, in particular a construction robot, preferably for use in structural and / or civil engineering, on a construction site, the mobile machine tool for work, in particular with a tool, on at least one Working position of the construction site is set up, the working position is determined using a component data set.

Analogously to the machine tool system according to the invention, the method according to the invention therefore also allows the working position to be determined automatically instead of being specified by a user of the method or the mobile machine tool. According to the method, requirements, in particular safety requirements, can thus be taken into account when determining the working position, so that the risks mentioned at the outset can also be reduced or eliminated.

It is also conceivable that the working position is determined using a construction site data set. It can thus be determined in particular using the component data set and using the construction site data set.

In order to counter any deviations from the reality of BIM planning data, the working position can also be determined by modifying a predefined target working position, in particular using the component data set, the construction site data set and/or the standard data set.

The component data set and/or the construction site data set can be determined for such a target-time comparison by means of a detection sensor of the machine tool system, in particular the control unit.

The control unit can also be set up to use the component data set, the construction site data set and/or the rule data set to control at least one further parameter of the work of the mobile machine tool in addition to the working position. This additional parameter can be, for example, a tool type, a tool dimension, a contact pressure force, a speed, for example a propulsion speed, a torque or the like.

In some countries, for example, ceiling elements are produced by casting formwork, for example in the case of so-called composite concrete ceilings. The formwork can in particular have one or more profiled sheets. The profile sheet or sheets can have at least one corrugated sheet, a trapezoidal sheet or another sheet reinforced by geometric structures. The at least one profile sheet can be used as permanent formwork. A surface of the component can be scanned, in particular optically.

For example, with such profile sheets, it has proven to be advantageous if the surface of the component is scanned in a punctiform and/or linear manner, in particular optically. This can allow precise determination of the geometry or parts of the geometry.

In particular, the determined geometry can also be compared with component data and/or data from a BIM model.

For this purpose, the scanning can take place with the aid of a scanning sensor. The scanning sensor can, for example, be and/or include a laser distance meter. A laser beam of the scanning sensor can be deflected linearly, for example in the form of a loop. To do this, the laser beam can be deflected and/or the laser distance meter can be moved in a suitable manner.

It is also conceivable that the scanning sensor includes a 2D and/or a 3D sensor. For this purpose, the scanning sensor can include an optical camera, for example. It can also include a 3D camera.

At least one rule data set can then be used to infer a position and/or location of the component, for example relative to the construction site, from the scanned surface. The working position can thus also be determined directly and/or indirectly.

Thus, the working position can be determined on a component having the profile sheet.

In order to scan the surface, the scanning sensor can be movable relative to the surface. For this purpose, the scanning sensor can be arranged, for example, on a manipulator, in particular on an end effector of the manipulator.

Just like the surface of the component, at least one carrier structure and/or installation elements can also be scanned, for example with regard to their respective three-dimensional structures. Such a scanning can be carried out with the same and/or with the same means as the scanning of the surface.

A way to get to the working position with the mobile machine tool, in particular with its manipulator and/or a tool arranged thereon, for example a drill or a setting tool, can be planned. The planning of the path can take into account data obtained from the scan. Located for example the working position in the immediate vicinity of a detected object, for example the support structure, a movement sequence of the manipulator can be planned and/or controlled in such a way that the manipulator moves past the detected object without bumping into it.

Further features and advantages of the invention result from the following detailed description of exemplary embodiments of the invention, using the figures of the drawing, which show details essential to the invention, and from the claims. The features shown there are not necessarily to be understood to scale and are presented in such a way that the special features according to the invention can be made clearly visible. The various features can each be implemented individually or in groups in any combination in variants of the invention.

In the schematic drawing, exemplary embodiments of the invention are shown and explained in more detail in the following description.

Show it:

1 shows a machine tool system;

2 shows a schematic representation of the machine tool system in a first example of a determination of working positions;

3 shows a schematic representation of the machine tool system in a second example of a determination of working positions;

4 shows a flow chart of a method;

5 shows a schematic sectional view through a component designed as a ceiling element; and

FIG. 6 shows the component according to FIG. 5 and a machine tool system in a schematic, perspective representation.

In the following description of the figures, the same reference symbols are used in each case for identical or functionally corresponding elements in order to facilitate understanding of the invention.

1 shows a machine tool system 10 in a schematic representation. The machine tool system 10 has a mobile machine tool 12 which is set up as a construction robot for use in civil engineering. In particular, the mobile machine tool 12 is for working at least one working position of a construction site furnished; it is equipped with a drilling tool 14 and can thus perform drilling work.

The drilling tool 14 is arranged on a multi-axis manipulator 16 of the mobile machine tool 12 . With the help of a chassis 18, the mobile machine tool 12 can move on a construction site, preferably automatically or at least remotely.

A control unit 20 for controlling the mobile machine tool 12 is housed in a housing 19 of the chassis 18 . The control unit 20 is designed as a computer unit.

The control unit 20 comprises a microprocessor unit 21, a program code storage unit 22, in which program code executable on the microprocessor unit 21 can be stored, and a component data storage unit 24, in which at least one component data set for at least one component to be used on the construction site can be stored.

The control unit 20 also has a construction site data storage unit 26 for storing at least one construction site data set and a standard data storage unit 28 in which at least one standard data set can be stored. The memory units 22, 24, 26 and 28 are implemented as a whole by an overall memory unit 29, for example a non-volatile, writable and readable memory unit.

The mobile machine tool 12 also has a detection sensor 30 . The detection sensor 30 is formed by two image recording units 32 which together make it possible to record three-dimensional images of the environment. In particular, lengths, for example distances, can be determined on the basis of the three-dimensional images.

An analysis unit 33 is configured in the control unit 20 for analyzing recorded images. For this purpose, the control unit 20 has a deep learning unit.

The machine tool system 10 also has a display unit 34, which is designed as part of the control unit 20, but independently of the rest of the control unit 20, and is in particular portable. It is via a radio link with the rest of the control unit 20 usable.

The display unit 34 is set up to display VR images. It also has two input keys 36 with which the user of the machine tool system 10 can acknowledge specific work items and thus start or prevent the execution of work.

In a schematic representation, FIG. 2 shows a determination of working positions with the aid of the machine tool system 10 described above.

In the schematic representation according to FIG. 2 a construction site 38 can be seen on which a component 44 is to be processed on a wall 42 . The component 44 can be a wall cladding element, for example.

In the present example, two boreholes are to be machined through the component 44 and into the wall 42 .

The component 44 has a code 46 by means of which and with the aid of the detection sensor 30 the control unit 20 recognizes the component 44 .

Using the code 46, the control unit 20 (see FIG. 1) retrieves component data records for the component 44 from the component data storage unit 24 (also FIG. 1).

In particular, the component data sets can include information on positions at which drill holes are to be made. In addition, construction site data records for construction site 38 , in particular for wall 42 , are recorded via detection sensor 30 .

The construction site data records include, for example, the position and location of the wall 42 and the relative position of the component 44 relative to the wall 42.

Working positions resulting from these data sets are determined, in particular calculated, with the aid of the component data sets and the construction site data sets.

The result is presented on the display unit 34 in the form of a VR image 48 . An image of the construction site 38 can first be seen in the VR image 48 . Additionally are - in the form of Crosshairs - working positions 50 shown in VR image 48. In addition to the crosshairs, the work items shown include 50 representations of the boreholes to be drilled.

If the user of the machine tool system 10 now acknowledges the specific work positions 50 on one of the buttons 36, in particular on the button 36 marked "OK", the control unit 20 controls the mobile machine tool 12 in such a way that it drills the desired bores at the specific work positions 50 drills.

Specifically, FIG. 2 shows a situation in which the machine tool system 10 has just completed the drilling work, so that two boreholes 52 have been drilled through the component 44 and into the wall 42 .

3 shows, also in a schematic representation, a further example of a determination of working positions.

In contrast to the situation according to FIG. 2 , in the situation on which FIG. 3 is based, there are target working positions from a BIM planning system. These target work positions are stored in the form of construction site data records in the construction site data storage unit 26 (see FIG. 1).

Unless otherwise described, the machine tool system 10 corresponds to the previously described machine tool system 10, this machine tool system 10 being modified in relation to the previously described one in that it can determine working positions based on at least one predetermined target working position.

It goes without saying that the machine tool system 10 can be set up to determine working positions both with and without the presence of target working positions.

As can be seen in the representation according to FIG. 3, in this case the VR image 48 shows a schematic top view of the wall 42 with the component 44. Alternatively or additionally, it is also conceivable that the machine tool system 10 on the display unit 34 shows a VR figure 48 in the manner of the previously described embodiment. Also mixtures of Types of representation or other types of representation are conceivable.

The resulting positions of the target working positions 54 are shown schematically within the V image 48 in accordance with the position and location of the wall 42 detected by the detection sensor 30 . It can be seen that the target working positions 54 are located too close to the edges of the component 44 .

There are conflicts with component data records stored in the component data storage unit 24 for the component 44, according to which the boreholes are to be produced with specific minimum distances from the edges and with specific maximum distances from the edges of the component 44.

The control unit 20 is therefore set up to provide an offset starting from the target working positions 54, with the aid of which the control unit 20 determines the final positions of the working positions 50. These specific work positions 50 are also shown in the display unit 34 .

After acknowledgment by the user, the planned boreholes 52 are again drilled at the positions corresponding to the work positions 50 determined.

4 shows a method 100 in the form of a flow chart. In order to explain the method 100, reference is made below to the previously introduced reference symbols in relation to the machine tool system 10 and in relation to the construction site 38.

In a first step 110, the machine tool system 10, in particular the control unit 20, retrieves component data sets for different components that are stored in a cloud-based memory. Furthermore, construction site data records are loaded into the construction site data storage unit 26 from a BIM planning system.

In a subsequent step 112, a number of component data records are recorded using the recording sensor 30 and the analysis unit 33. In particular, the type of component 44 and its position and orientation are determined. In addition, construction site data records of the construction site 38 are recorded by means of the recording sensor 30 and the analysis unit 33 . In particular, the position and location of the wall 42 are determined. In a further step 114, the work items 50 are determined using the component and construction site data records. If target work items 54 are available, they are checked for conflicts using the component data records and taking into account the construction site data record.

If a conflict is found, the working position 50 in question is determined by determining the smallest required shift of the target working position 54 in order to eliminate the conflict in question.

If rule datasets are present, which can preferably be stored in the rule storage unit 28, the rules associated therewith are additionally checked by the control unit 20.

For example, there can be a rule data set that provides for the component 44 to be arranged only at specific positions or in the form of a specific pattern within the construction site 38 .

If this rule is not fulfilled for the currently determined work item 50, the work item 50 is additionally modified so that all the rules corresponding to all relevant rule data records are or will be met. If, exceptionally, all of the requirements to be taken into account according to the component data records, the construction site data records and the rule data records cannot be met without conflict, it can be provided that the control unit 20 query an interaction of the user to decide on the further procedure.

In a further step 116, the determined work positions 50 and, if applicable, the target work positions 54 and their displacement are shown on the display unit 34 as a VR image 48. An acknowledgment by means of the keys 36 by the user is then awaited.

Depending on the outcome of the acknowledgment by the user, in a final step 118 boreholes 52 or, in general, work is carried out at the positions within the construction site 38 corresponding to the specific work positions 50, or execution of the work is blocked.

It goes without saying that the interactions in step 116 with the user, in particular the representations on the display unit 34 and/or obtaining the acknowledgment, are optional. In particular, step 116 can be dispensed with if the machine tool system 10 is to be designed to act completely autonomously and in particular without interaction with the user during the course of the method 100 .

After the work has been completed, it can be provided that the method is carried out again, in particular beginning with step 110, until all work items 50 to be processed have been determined and the corresponding work has been carried out.

Fig. 5 shows a schematic sectional view of a component 44 on a construction site 38. The component 44 is designed as a ceiling element. It forms a ceiling of a building that is not shown in more detail in FIG. The component 44 has a concrete layer 56 . On the underside of the concrete layer 56 there is a profile sheet 58, in particular a trapezoidal sheet. The profile sheet 58 can have elevations, depressions and/or other geometries.

To produce the component 44, the profile sheet 58 serves as permanent formwork for the concrete layer 56 produced by casting. A concrete composite ceiling can thus be formed.

In order to set anchors 53, boreholes 52 are to be drilled at working positions 50, preferably in compliance with a required minimum distance and/or a defined drilling position.

As an example, Fig. 5 shows two such working positions 50, boreholes 52 and anchors 53.

Furthermore, various markings, for example color markings or codes, for example for subsequent construction work or for instructions for later installation, are to be applied to the profile sheet 58 .

Due to the trapezoidal cross section of the profile sheet 58, the working positions 50 and thus the positions of the drilled holes 52 and the anchors 58 are subject to component-specific properties. These properties are represented by component data records R I, R II, R III as examples.

For example, the component data sets RI and R ill correspond to the property that in horizontal or at least essentially horizontal sections of the profile sheet 58 both working positions 50 for boreholes 52 are available and that color markings can be marked in these sections.

A further property can be that, for example, only markings are to be made in sections of the profile sheet 58 running obliquely to the horizontal, but not bore holes 52 are to be drilled. This property of component 44 corresponds in Fig.

5 exemplary component data sets R II.

FIG. 6 shows component 44 according to FIG. 5 and a machine tool system 10 in a schematic, perspective view.

To simplify the illustration and the further explanations, the concrete layer 56 is shown schematically in FIG. 6 only by a hatched area. Also for reasons of representation, the profile sheet 58 is shown in FIG. 6 as a partially transparent line representation. The profile sheet 58 is only an example and can also have a geometry other than that shown in FIG. 6 .

Unless otherwise described below, the machine tool system 10 can correspond to the previously described machine tool system 10 . In particular, it has a mobile machine tool 12 . It also has the manipulator 16 with a drilling tool 14 , located in particular within a dust extraction system 15 .

In the area of the dust extraction 15 there is also a distance meter 60. The distance meter 60 is designed as a laser distance meter. It is designed to use a laser beam 62 to scan a surface, in particular the underside, of the profile sheet 58, in particular optically. In particular, it is set up to determine its distance from a point of impact of the laser beam 62 on the profile sheet 58 in each case. This can be done, for example, by one or more runtime measurements.

The position and position of the distance measuring device 60 and thus of the drilling tool 14 arranged rigidly with respect to this is carried out by means of a position measuring device. In this exemplary embodiment, the position measuring device has a fully automatic total station 64 which tracks a reflector 66 with its own laser beam 65 . In alternative embodiments, other position measuring devices are also conceivable. For example, a position measurement can also be carried out by measuring the positions and/or locations of individual Arm elements of the manipulator 16 take place.

The profile sheet 58 is formed from a large number of bent sheet metal elements which are arranged relative to one another in such a way that the channels with depressions, slopes or elevations required for the trapezoidal cross section are formed. The channels each run parallel to one another. This property is shown schematically in FIG. 6 by a rule data set IV.

Working positions 50 (FIG. 5) on the profile sheet 58 can be determined with the aid of the rule data record IV. First of all, horizontally running sections and, if necessary, sections of the profile sheet 58 that run obliquely to the horizontal must be localized in order to be able to use the component data records R I, RH and/or R III (Fig. 5) or, if necessary, further component data records for the further determination of the working positions 50.

For this purpose, the underside of the profile sheet 58 is first scanned linearly, for example along a loop-shaped scanning path 68 . In particular, a height profile of the profile sheet 58 is measured along the scanning path 68 using the distance meter 60 .

For scanning along the scanning path 68, the distance meter 60 is moved with the aid of the manipulator 16, preferably in a horizontal plane. The course of the positions of the distance measuring device 60 and thus of the laser beam 62 or its impingement points along the scanning path 68 are logged by the total station 64 in connection with the reflector 66 which is moved along with it. The sampling can take place with a sampling rate of, for example, at least 10 Hz, preferably at least 20 Hz.

Coherent sections of the scanning section 68 with constant or at least only slightly fluctuating distances, in FIG. 6, for example, the section 70, can indicate horizontal sections of the profile sheet 58. On the other hand, contiguous sections of the scanning section 68 with increasing or decreasing distances, for example section 72 in FIG. 6, can indicate sections of the profile sheet 58 running obliquely to the horizontal.

Since it is known from the control data set IV that the horizontal and the inclined sections run in a straight line and parallel to one another, the positions and/or locations of the horizontal and the inclined sections of the profile sheet 58 can be determined starting from 19

ADJUSTED SHEET (RULE 91) ISA/EP the respective contiguous sections, ie z. B. the sections 70 or 72, are extrapolated to the entire profile sheet 58.

This results in the positions and/or layers of the horizontal sections and, to the extent necessary, for example in the event that markings are to be set, of the sections of the profile sheet running at an angle to the horizontal.

Thus, the component data records R I, R II and/or R III and/or possibly further component data records in relation to the component 44 can now be used for the fine determination of working positions 50. In particular, it can thus be ensured as a result that, for example, boreholes 52 are drilled only in sections of the profiled sheet 58 running horizontally. This can thus be ensured even if the position and/or location of the profile sheet 58 relative to the construction site 38 deviate from a planned position and/or a planned location.

The punctiform or line-shaped scanning of the profile sheet 58 can minimize interference from reflections on the surface of the profile sheet 58 . Since the scanning path 68 only needs to cover a portion of the profile sheet 58, the time required for measuring the position and/or position of the profile element 58 is also reduced.

It is also conceivable that, in the manner described above, a target working position, for example according to planning in a BIM model, taking into account the rule data set R IV and/or other rule data sets and the component data sets R I, R II, R III and/or others Component data records, and in particular in the event that the component 44 has one or more profiled sheets, is modified.

A rule data record and/or a component data record can also include a limitation of a change in the working position 50 . For example, it can be provided that a working position, for example a drilling position, can only be changed up to a maximum permissible distance.

At least one accuracy criterion can also be taken into account when changing the working position.

20

ADJUSTED SHEET (RULE 91) ISA/EP Reference List

10 machine tool system

12 mobile machine tool

14 drilling tool

15 dust extraction

16 manipulator

18 landing gear

19 housing

20 control unit

21 microprocessor unit

22 program code storage unit

24 component data storage unit

26 site data storage unit

28 rule data storage unit

29 total storage unit

30 detection sensor

32 image pickup unit

33 analysis unit

34 display unit

36 Enter key

38 construction site

42 wall

44 component

46 codes

48 picture

50 working position

52 borehole

53 anchors

54 Target working position

56 concrete layer

58 profile sheet

60 distance meter

62 laser beam

64 total station 6 reflector

68 scanning path

70 leg

72 Section R I, R H, R ill Component data set

R IV rule record

100 procedures

110 step

112 step 114 step

116 step

118 step

Claims

patent claims

1 . Machine tool system (10) for a construction site (38), comprising

- a mobile machine tool (12), in particular a construction robot, preferably for use in structural and/or civil engineering,

- the mobile machine tool (12) being set up for work, in particular with a tool (14), at at least one working position (50) on the construction site (38),

- A control unit (20) for controlling the mobile machine tool (12), comprising a microprocessor unit (21) and a program code storage unit (22) in which program code executable on the microprocessor unit (21) can be stored, and a component data storage unit (24) in which at least one component data set can be stored for at least one component (44) to be used on the construction site (38), the control unit (20) being set up to determine the working position (50) using a component data set stored in the component data storage unit (24).

2. Machine tool system according to the preceding claim, characterized in that the control unit (20) is set up to determine the working position (50) using a construction site data set of a construction site data storage unit (26).

3. Machine tool system according to one of the preceding claims, characterized in that the control unit (20) is set up to determine the working position (50) using a control data set of a control data storage unit (28).

4. Machine tool system according to one of the preceding claims, characterized in that the control unit (20) has a detection sensor (30) for detecting at least one component data set and/or one construction site data set.

5. Machine tool system according to one of the preceding claims, characterized in that the detection sensor (30) comprises an image recording unit (32) for recording a one-, two- and/or three-dimensional image (48).

6. Machine tool system according to one of the preceding claims, characterized

23 characterized in that the control unit (20) comprises an analysis unit (33) for analyzing the image (48). Machine tool system according to one of the preceding claims, characterized in that the mobile machine tool (12) is set up for drilling, hammer drilling and/or chiselling. Machine tool system according to one of the preceding claims, characterized in that the mobile machine tool (12) is set up to select the tool (14) to be used for carrying out the work from a set of tools (14). Machine tool system according to one of the preceding claims, characterized in that at least one element of the machine tool system (10), in particular the mobile machine tool (12) or the control unit (20) or at least part of the control unit (20), can be operated wirelessly. Machine tool system according to one of the preceding claims, characterized in that the control unit (12) has a display unit (34), in particular for displaying an augmented reality image (48). Method (100) for controlling a mobile machine tool (10), preferably for use in structural and/or civil engineering, in particular for controlling a construction robot, on a construction site, the mobile machine tool (10) being used for work, in particular with a tool (14 ), is set up at at least one working position (50) of the construction site (38), the working position (50) being determined on the basis of a component data record, in particular a component (44). Method according to the preceding claim, characterized in that the working position (50) is determined using a construction site data set. Method according to one of Claims 11 to 12, characterized in that the working position (50) is determined by modifying a predefined target working position (54), in particular using the component data set, the construction site data set and/or the rule data set. Method according to one of Claims 11 to 13, characterized in that the component data set and/or the construction site data set is determined by means of a detection sensor (30) of the machine tool system (10), in particular the control unit (20). Method according to one of Claims 11 to 14, characterized in that the working position (50) is determined on a component (44) having a profile sheet. Method according to one of Claims 11 to 15, characterized in that a surface of the component (44) is scanned, in particular optically. Method according to one of Claims 11 to 16, characterized in that the surface of the component (44) is scanned in the form of points and/or lines, in particular optically.