WO2023073251A2 - Robot for easy processing of surfaces, more particularly walls and ceilings - Google Patents

Robot for easy processing of surfaces, more particularly walls and ceilings Download PDF

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Publication number
WO2023073251A2
WO2023073251A2 PCT/EP2023/053325 EP2023053325W WO2023073251A2 WO 2023073251 A2 WO2023073251 A2 WO 2023073251A2 EP 2023053325 W EP2023053325 W EP 2023053325W WO 2023073251 A2 WO2023073251 A2 WO 2023073251A2
Authority
WO
WIPO (PCT)
Prior art keywords
robot
processing
camera
code
robot according
Prior art date
Application number
PCT/EP2023/053325
Other languages
German (de)
French (fr)
Other versions
WO2023073251A3 (en
Original Assignee
Robosurf Italia S.R.L.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robosurf Italia S.R.L. filed Critical Robosurf Italia S.R.L.
Publication of WO2023073251A2 publication Critical patent/WO2023073251A2/en
Publication of WO2023073251A3 publication Critical patent/WO2023073251A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Definitions

  • the invention relates to a robot for processing surfaces, in particular floors, areas, walls and/or ceilings.
  • the object of the invention is to provide a robust, simple, in particular user-friendly and/or easy-to-use, and inexpensive robot that is able to autonomously or together with an "operator" a work area and / or one or more areas, in particular To work on surfaces and/or rooms and to support them in doing so.
  • a robot for processing surfaces, in particular walls, ceilings and/or floors, in particular an interior having a) a chassis with at least at least, in particular exactly, two driven wheels, which are in particular arranged diametrically opposite one another, and at least one moving wheel or with a chassis with two on a common axle line arranged parallel and/or offset wheels as well as at least one further steerable axle with at least one wheel, b) at least two first sensors, in particular laser range finders and/or ultrasonic sensors, which are set up in particular, objects, in particular arranged diametrically opposite one another on the chassis in a horizontal plane at 360° around the robot and in particular to measure it, and c) a lifting system arranged on the chassis, in particular a lifting table system, which is arranged on the robot in such a way that it can be moved vertically by the robot and at least a robot arm with at least two, in particular a maximum of eight, axes, in particular pivot axes, on the lifting system, or wherein an at least, in particular exactly
  • the robot arm has at least one receptacle for selectively receiving at least one tool, in particular a spray gun and/or a grinding machine and/or other tools, for processing and/or inspecting surfaces (e.g. milling machines, UV-C lamps, etc.), and/or a contact for selectively contacting a camera.
  • a spray gun and/or a grinding machine and/or other tools
  • processing and/or inspecting surfaces e.g. milling machines, UV-C lamps, etc.
  • the object is also achieved by a system having a robot according to the invention, at least one camera and at least one Spray gun and/or a grinding machine and/or a tool for surface treatment and in particular by a system having a robot according to the invention, at least one camera and at least one spray gun and/or a grinding machine and/or a tool for surface treatment and/or inspection and one or a plurality of markings for attachment, attachment and/or installation on the surface, in particular the wall, ceiling or floor.
  • the markings are advantageously codes, for example barcodes that can be set up and/or barcodes that can be set up, in particular self-adhesive and/or set up, and/or, in particular electronic, markers and/or three-dimensional laser scanner target marks and/or three-dimensional markers.
  • barcodes for attachment to the surface or markers that can be set up can be used.
  • Deployable markers may include information in their shape, surface texture and/or finish and/or in an imprinted code.
  • Stand-up markers have the advantage that they do not cover the surface to be worked on. For example, they can be placed on the floor at a distance of at least 0 cm, in particular at least 2 cm, up to 20 cm in front of a wall. So they are not in the way when working on the wall.
  • Codes advantageously include barcodes and/or RFID identifiers, in particular NFC identifiers.
  • the driven wheels are advantageously formed by at least two motorized wheels.
  • the motorized wheels can each be rotated about an axis of rotation and/or can be controlled, in particular separately, in particular in order to control the rotational speed of the wheels individually.
  • the driven wheels, in particular the motorized wheels are advantageously pivotable, in particular rotatable, about a respective steering axle axis.
  • the first driven wheel can be pivoted, in particular rotated, about a first steering axis and the second driven wheel about a second steering axis.
  • the first Steering axis axis in particular real, arranged parallel to the second steering axis axis.
  • the pivoting of the driven wheel can be controlled, in particular the pivoting of the first driven wheel can be controlled separately from the pivoting of the second driven wheel, in particular at least one motor is provided for each steering axis.
  • the at least one traveling wheel can each be rotated about the axis of rotation and, in particular, pivoted about a steering axis, in particular rotatable.
  • two idler wheels are provided.
  • the first idler wheel is pivotable about a third steering axis, in particular freely rotatable.
  • the second idler wheel is pivotable about a fourth steering axis, in particular freely rotatable.
  • the third steering axis, in particular real is arranged parallel to the fourth steering axis.
  • the first steering axis, in particular real is arranged parallel to the third steering axis.
  • the rotation of the idler wheels about their axis of rotation and/or steering axis is not controllable.
  • the driven wheels are advantageously arranged at diametrically opposite corners of the chassis, in particular at a maximum distance of 10% from the respective corner of one, in particular the longest and/or shortest, side length of the chassis.
  • the traveling wheels are each arranged at diametrically opposite corners of the chassis, in particular at a maximum distance of 10% from the respective corner of one, in particular the shortest and/or longest, side length of the chassis.
  • the driven wheels are each arranged at diametrically opposite corners of the chassis and the idler wheels at the other corners of the chassis.
  • the robot particularly advantageously has a manual, in particular local, control device or is coupled to such a device, in particular directly.
  • the robot is set up in particular to drive and steer the robot and to move one and/or more cameras recorded in the mount by raising and lowering the lifting system, in particular the lifting table system, and controlling the robot arm, with the driving and steering and the moving by means of the manual control.
  • the control device is set up to control the driven wheels, in particular their movement about their axes of rotation and/or steering axes, in particular individually and/or separately and/or independently of one another.
  • the control device is set up to move the robot/system by controlling the controllably driven wheels, in particular their rotational speed, in particular about the axis of rotation, and/or to steer the robot/system by controlling the movement about the steering axes.
  • the movement of the driven wheels about the axes of rotation and/or steering axes is controlled individually and/or separately and/or independently of one another.
  • the control device is set up on the basis of properties of the driven and/or follower wheels, in particular their radius, drive power, rolling resistance, maximum movement around steering axes, at least one movement command for moving the robot/system and/or at least one control command for controlling the controllably driven wheels calibrate wheels.
  • control device is set up to create a plan for processing the surface based on the calibration, in particular the movement command and/or the control command, and possibly based on further sensor data, in particular recognized markings, and/or manually entered data.
  • the driven and/or idler wheels advantageously have a diameter of at least 100 mm, in particular at least 200 mm, in particular at least 250 mm, and/or at most 1000, in particular at most 500 mm.
  • the aforementioned design, arrangement and/or dimensioning of the wheels, in particular driven wheels makes it particularly easy to provide a robot that offers a driving system with which the movement of the robot can be controlled and implemented very precisely and precisely and in a very small space, so that in particular the accuracy of the processing of the surface can be achieved, in particular maneuvering in the corners of a room, in particular an interior space, can be reduced or avoided, which can increase the accuracy of the processing.
  • the robot is advantageously set up to recognize barcodes and/or markers and/or three-dimensional laser scanner target marks and/or three-dimensional markers applied and/or set up on surfaces, in particular at least one wall, a ceiling or a floor, by means of the camera, at least one additional camera and/or the laser rangefinder and for defining a processing area, in particular a large number of processing areas, on the surface on the basis of at least one recognized code, in particular barcodes, markers, and/or at least one three-dimensional marker and/or three-dimensional laser scanner target and in particular an input the shape, height and/or length of the at least one processing area, with the determination of the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks, in particular in relation to a reference system, in particular exclusively, using image data from a camera and /or another camera, position data of the lifting system and the robot arm and measurements of the at least two laser range finders and/or Ultrasonic sensors and / or sensors takes place.
  • an input or an input option can also be dispensed with, in particular if such information is included in the code in a way that the robot can see it.
  • the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks is advantageously stored relative to the reference system, in particular on a data storage medium, in particular an external one, in particular a cloud.
  • the storage takes place or the data are stored in the memory in such a way that they can also be used later and/or by another system.
  • performance data and/or machine data in particular of the robot, in particular of the robot arm and/or the components mounted on the robot arm and/or contacted with the robot arm, camera, spray gun, grinding machine and/or other tools for processing and/or inspection of surfaces.
  • Ambient data in particular environmental data in the area surrounding the robot, is advantageously recorded, in particular directly, in particular by means of additional sensors, the environmental data including, for example, the temperature, humidity, pressure and/or brightness.
  • a section of the processing area and/or the surface in particular the section that has already been processed, in particular by means of the spray gun and/or grinding machine and/or the additional tool, in particular by means of a measuring device, in particular an additional measuring device, in particular a laser tracker, and/or by means of the at least two laser range finders and/or ultrasonic sensors and/or sensors and/or the camera, inspected, monitored and/or viewed and/or data, in particular optical data, such as images, taken and in particular evaluated.
  • a setpoint value is compared, which in particular corresponds to a target value specified during processing of the surface, and an actual value resulting from monitoring, observation and/or data acquisition.
  • the processing of a further section of the surface and/or the processing area is adjusted based on the comparison, and in particular the parameters for processing the further section of the surface and/or the processing area are adjusted based on the comparison.
  • the portion of the processing area and/or the surface is again processed due to and based on the comparison with adjusted parameters based on the comparison.
  • adjusted parameters are created for the machining of further sections or the already machined section.
  • the monitoring, viewing and/or data acquisition and in particular the evaluation and comparison takes place in real time.
  • the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks is advantageously stored relative to the reference system and the relative positions and/or the absolute positions are evaluated on the basis of a predetermined and/or known absolute value of the reference system , in particular to show the positions relative to one another, in particular to show the environment defined by the positions, in particular to create a grid system.
  • at least a first part of the environment or the grid system and/or a first number of positions is assigned a first property or properties, such as a color value, a color intensity, and/or a pressure weight, and in particular at least one additional, second Part of the environment or the grid system and / or a further, second number of position assigned a second property or second properties.
  • the recorded sensor data and/or data such as machine data, performance data, environmental data, positions, in particular the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks, are stored at least temporarily, in particular in the system and/or on a storage medium arranged on the robot and/or in a cloud and/or on an external, in particular non-local data storage device, in particular a cloud.
  • the robot is preferably set up to recognize at least one code applied and/or set up on a surface and/or wall and/or a ceiling and/or a floor and/or surface, such as a barcode and/or marker and/or three-dimensional and/or electronic laser scanner target mark and/or three-dimensional marker contain information on the position and/or delimitation of a processing area relative to the code, for example to the barcode and/or marker by means of a camera and/or at least one additional camera and/or the laser range finder and/or ultrasonic sensors and the robot is set up to define one, in particular a large number of processing areas on the basis of at least one recognized code, such as a barcode and/or three-dimensional marker and/or brand and/or and/or three-dimensional laser scanner target mark and information contained therein on the position and/or boundary of the processing area and in particular an input of the shape, height and/or length of the at least one processing area, the robot being set up in particular to determine the position of the code, such as barcodes and/
  • the robot is advantageously set up for automatically processing and/or grinding and/or spraying and/or processing a processing area, in particular a plurality of processing areas of a surface. This makes it easier to control the robot.
  • the robot is preferably set up to automatically end the activity, the automatic processing, in particular the grinding and/or spraying, upon and/or corresponding to the detection of a stop code in a code such as a barcode and/or marker and/or three-dimensional laser scanner target and/or three-dimensional markers, in particular by means of laser scanners and/or ultrasonic sensors and/or one or more cameras.
  • a code such as a barcode and/or marker and/or three-dimensional laser scanner target and/or three-dimensional markers, in particular by means of laser scanners and/or ultrasonic sensors and/or one or more cameras.
  • the robot is particularly advantageously set up to automatically start an activity, grinding and/or spraying when recognizing a start code in a barcode and/or three-dimensional marker, in particular by means of the laser scanner and/or a camera, in particular a predefined one relative to the Position of the barcode(s) and/or marker and/or three-dimensional laser scanner target mark and/or three-dimensional marker and/or absolutely defined processing area.
  • the robot is preferably set up to accept an input regarding the shape, length and/or height of a processing area, and in particular to display the input. This can make it easier to define the working areas.
  • a processing area can thus be undertaken with one or a few parameters, in particular relative to a barcode and/or marker and/or three-dimensional laser scanner target mark and/or three-dimensional marker
  • the lifting system can be moved, in particular exclusively, vertically, in particular perpendicularly, to the travel plane of the chassis and/or the axles of the wheels.
  • the robot has in particular a corresponding device, in particular at least one bearing and at least one drive.
  • the lifting system advantageously has at least one lifting table.
  • the lifting system in particular the lifting table system, in particular the lifting table, can be moved vertically by means of at least one telescopic arm, with the at least one telescopic arm being arranged in particular between a lifting table of the lifting table system and the travel plane of the chassis and/or the axles of the wheels.
  • the lifting table system advantageously has at least one lifting table, in particular at least two lifting tables, which are arranged one on top of the other.
  • the lifting table system advantageously has at least one lifting table which is connected to the chassis by means of a lifting system, the lifting system having at least two lifting systems, at least a first lifting system being connected to the chassis and a second lifting system being connected to the lifting table, the first lifting system is also connected in particular to the second lifting system and/or the second lifting system is also connected in particular to the first lifting system.
  • the lifting system in particular the first lifting system, is set up to move a lifting part in relation to the chassis, in particular vertically
  • the lifting system, in particular the second lifting system is set up to move the lifting table in relation to the lifting part, in particular vertically.
  • the lifting part can be a common part of the first and second lifting system.
  • the first lifting system can be controlled independently of the second lifting system, or the first lifting system can be controlled jointly with the second lifting system.
  • the robot is set up to move the lifting table system by means of a cable and / or telescopic extension in height and in particular to move the cable by means of a motor, the robot in particular so set up so that the motor is controlled by software running in the robot.
  • the robot advantageously has at least two second sensors, in particular optical sensors, in particular laser scanners, in particular safety laser scanners, which are set up in particular to surround objects in a vertical plane by at least 90°, in particular at least 150° to capture the robot around, in particular to measure.
  • a two-dimensional map of the surroundings is created using the sensor data from the first sensors and/or the sensor data from the second sensors.
  • a section of the environment is calculated in three dimensions using the sensor data from the first sensors and the sensor data from the second sensors.
  • the robot advantageously has at least one acceleration sensor and/or at least one inclination sensor.
  • the robot advantageously has at least one inclination sensor between the chassis and the lifting table system and/or between the lifting table system and the robot arm and/or between the robot arm and the receptacle, in particular in each case.
  • the at least one inclination sensor is arranged between the robot arm and the receptacle.
  • a communication connection in particular wireless or wired, between the at least one acceleration sensor and/or the at least one inclination sensor and the control device, the control device being set up to control the robot arm and/or the robot arm and/or on the basis of the data from the at least one acceleration sensor and/or at least one inclination sensor or to control the wheels of the first unit.
  • the control device is advantageously set up, on the basis of the sensor data from the at least two first and/or at least two second sensors, to calculate an angle of attack and/or a contact pressure of the object recorded in the receptacle determine and/or modify and/or control the grinding machine and/or tool. It is possible, for example, to use the at least two first and/or at least two second sensors to detect that the robot is standing on an uneven surface and is therefore not standing or moving at a right angle in relation to a wall to be processed, or that the wall to be processed The wall is not exactly vertical, which is why it is necessary to adjust the robot arm or the angle of attack of the tool or grinding machine held in the holder.
  • the control device is advantageously set up, on the basis of the sensor data from the at least two first and/or at least two second sensors, to change and/or control an angle of attack and/or a contact pressure of the grinding machine and/or tool accommodated in the receptacle in such a way that that the work equipment, for example abrasives and/or tools, is guided parallel and/or flat to the wall.
  • At least one force sensor is advantageously arranged between the robot arm and the receptacle.
  • the force sensor is set up to record the forces acting on the grinding machine and/or tool accommodated in the receptacle as sensor data.
  • the robot advantageously has at least one further force sensor which is set up to record the forces acting on the robot as sensor data.
  • a communication connection in particular wireless or wired, between the at least one force sensor, and in particular optionally the at least one additional force sensor, and the control device, with the control device being set up on the basis of the sensor data of the at least one force sensor, and in particular the at least one additional one
  • the control device being set up on the basis of the sensor data of the at least one force sensor, and in particular the at least one additional one
  • control device is set up to receive the sensor data and evaluate, whereby during the evaluation the sensor data of the at least one force sensor arranged between the robot arm and the holder is filtered in that this sensor data is based on the sensor data of the at least one further force sensor and/or on the basis of the sensor data of the at least two first and/or at least two second sensors and/or based on the sensor data of the at least one acceleration sensor and/or at least one inclination sensor and/or based on knowledge of a property of the grinding machine and/or tool arranged on the holder, e.g. the fineness of the abrasive Grinding machine, and/or a work step of the work plan that was carried out at the time this sensor data was recorded by the at least one force sensor arranged between the robot arm and the receptacle.
  • the control device is advantageously set up to change and/or control an angle of attack and/or a contact pressure of the grinding machine and/or tool accommodated in the holder on the basis of the, in particular filtered, force measurement data in such a way that the working medium, for example grinding medium and /or tools are guided parallel and/or flat to the wall.
  • the robot advantageously has at least one input device, in particular a touchscreen, which is set up in particular to receive commands for the control device.
  • the input device is set up to display data from the robot, sensor data or the work plan or its progress, in particular the remaining progress.
  • the robot is preferably set up to monitor several safety areas around the robot, in particular by means of the laser range finder and/or ultrasonic sensors, and to detect the presence of objects, in particular people, in the safety areas, with the safety areas being arranged in such a way that at least one first safety area completely or partially surrounds a second security area and wherein the robot is submitted to which
  • the presence of objects, in particular people, in the various safety areas to react differently, with objects, in particular people, in one of the safety areas causing the robot to be switched off and/or stopped, in particular immediately, and not switched off and not stopped in another safety area is effected, but a warning, in particular an acoustic and/or visual warning, is given by the robot. This allows people to work safely in the vicinity of the robot without unnecessarily restricting or interrupting the work of the robot.
  • the object is also achieved by a method for processing a surface using a robot according to the invention.
  • a surface is recorded for this purpose with a camera that is arranged on the contact point of the robot arm of the robot according to the invention, with at least part of this surface being machined by a tool accommodated in the receptacle of the robot arm.
  • FIGs. 1 and 2 show non-limiting and purely exemplary views of a robot according to the invention.
  • a chassis with two wheels 5 and a steerable double wheel 4 and two laser scanners 3 can be seen.
  • a lifting table 6 with a traversing device is arranged on the chassis.
  • a robotic arm 6 is mounted on the lifting table and has a seat in which a grinding machine 2 is seated in the figures.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a robot and a method for processing surfaces, more particularly walls, ceilings and/or floors. The robot comprises: a chassis having wheels; at least two sensors; and a lifting system, which is disposed on the chassis and on which a robotic arm is mounted, the robotic arm having a holder and contacting means for selectively holding and contacting: - a camera, - at least one tool and/or - further tools for processing and/or inspecting surfaces. The invention solves the problem of providing a robust, simple robot which is able to process, autonomously or together with an operator, a working area and/or one or more faces, more particularly surfaces, and/or rooms and to support the operator in this.

Description

Roboter zur einfachen Oberflächenbearbeitung, insbesondere Wand- und Deckenbearbeitung Robot for simple surface processing, especially wall and ceiling processing
Die Erfindung befasst sich mit einem Roboter zur Bearbeitung von Oberflächen, insbesondere Böden, Flächen, Wänden und/oder Decken. The invention relates to a robot for processing surfaces, in particular floors, areas, walls and/or ceilings.
Es sind zahlreiche derartige Roboter bekannt, die teilweise komplexe Aufbauten und/oder Steuerungen aufweisen. Numerous robots of this type are known, some of which have complex structures and/or controls.
Aufgabe der Erfindung ist es, einen robusten, einfachen, insbesondere benutzerfreundlichen und/oder einfach zu bedienenden, und preisgünstigen Roboter anzugeben, der in der Lage ist, autonom oder zusammen mit einem "Operator" einen Arbeitsbereich und/oder eine oder mehrere Flächen, insbesondere Oberflächen, und/oder Räume zu bearbeiten und diesen dabei zu unterstützten. The object of the invention is to provide a robust, simple, in particular user-friendly and/or easy-to-use, and inexpensive robot that is able to autonomously or together with an "operator" a work area and / or one or more areas, in particular To work on surfaces and/or rooms and to support them in doing so.
Gelöst wird die Aufgabe durch einen Roboter zur Bearbeitung von Oberflächen, insbesondere Wänden, Decken und/oder Böden, insbesondere eines Innenraumes, aufweisend a) ein Fahrgestell mit zumindest mindestens, insbesondere genau, zwei angetriebenen Rädern, die insbesondere einander diametral gegenüberliegend angeordnet sind, und mindestens einem mitlaufendem Rad oder mit einem Fahrgestell mit zwei auf einer gemeinsamen Achslinie angeordneten parallelen und/oder versetzten Rädern sowie mindestens einer weiteren lenkbaren Achse mit mindestens einem Rad, b) mindestens zwei, insbesondere am Fahrgestell, insbesondere einander diametral gegenüberliegend, angeordnete, erste Sensoren, insbesondere Laserentfernungsmessern und/oder Ultraschallsensoren, die insbesondere eingerichtet sind, Objekte in einer horizontale Ebene in 360° um den Roboter herum zu erfassen und insbesondere zu vermessen, , und c) ein auf dem Fahrgestell angeordnetes Hubsystem, insbesondere Hebetischsystem, das am Roboter so angeordnet ist, dass es durch den Roboter vertikal verfahren werden kann und mindestens ein Roboterarm mit mindestens zwei, insbesondere maximal acht, Achsen, insbesondere Schwenkachsen, auf dem Hubsystem, oder wobei auf dem Hubsystem ein mindestens zweiachsiger, insbesondere maximal achtachsiger, Roboterarm montiert ist, wobei der Roboterarm eine Aufnahme und Kontaktierungen zur wahlweisen Aufnahme und Kontaktierung einer Kamera, mindestens eines Werkzeugs, insbesondere einer Sprühpistole und/oder einer Schleifmaschine und/oder weiterer Werkzeuge, zur Bearbeitung und/oder Inspektion von Oberflächen (z.B. Fräsen, UV-C Lampe, u.a.) aufweist. Mit Vorteil erfolgen die Aufnahme und Kontaktierung manuell oder automatisch, wird insbesondere derart durchgeführt. Mit Vorteil weist der Roboterarm mindestens eine Aufnahme zur wahlweisen Aufnahme mindestens eines Werkzeuges, insbesondere einer Sprühpistole und/oder einer Schleifmaschine und/oder weiterer Werkzeuge, zur Bearbeitung und/oder Inspektion von Oberflächen (z.B. Fräsen, UV-C Lampe, u.a.) auf, und/oder eine Kontaktierung zur wahlweisen Kontaktierung einer Kamera auf. The object is achieved by a robot for processing surfaces, in particular walls, ceilings and/or floors, in particular an interior, having a) a chassis with at least at least, in particular exactly, two driven wheels, which are in particular arranged diametrically opposite one another, and at least one moving wheel or with a chassis with two on a common axle line arranged parallel and/or offset wheels as well as at least one further steerable axle with at least one wheel, b) at least two first sensors, in particular laser range finders and/or ultrasonic sensors, which are set up in particular, objects, in particular arranged diametrically opposite one another on the chassis in a horizontal plane at 360° around the robot and in particular to measure it, and c) a lifting system arranged on the chassis, in particular a lifting table system, which is arranged on the robot in such a way that it can be moved vertically by the robot and at least a robot arm with at least two, in particular a maximum of eight, axes, in particular pivot axes, on the lifting system, or wherein an at least two-axis, in particular a maximum of eight-axis, robot arm is mounted on the lifting system, the robot arm having a receptacle and contacts for selectively receiving and contacting a camera Having at least one tool, in particular a spray gun and/or a grinder and/or other tools for processing and/or inspecting surfaces (eg milling, UV-C lamp, etc.). Recording and contacting are advantageously carried out manually or automatically, and are in particular carried out in this way. Advantageously, the robot arm has at least one receptacle for selectively receiving at least one tool, in particular a spray gun and/or a grinding machine and/or other tools, for processing and/or inspecting surfaces (e.g. milling machines, UV-C lamps, etc.), and/or a contact for selectively contacting a camera.
Gelöst wird die Aufgabe auch durch ein System aufweisend einen erfindungsgemäßen Roboter, mindestens eine Kamera und mindestens eine Sprühpistole und/oder eine Schleifmaschine und/oder ein Werkzeug zur Oberflächenbearbeitung sowie insbesondere durch ein System aufweisend einen erfindungsgemäßen Roboter, mindestens eine Kamera und mindestens eine Sprühpistole und/oder eine Schleifmaschine und/oder ein Werkzeug zur Oberflächenbearbeitung und/oder -Inspektion sowie eine oder eine Mehrzahl von Markierungen zur Anbringung, Befestigung und/oder Aufstellung an der Oberfläche, insbesondere der Wand, Decke oder Boden. Mit Vorteil sind die Markierungen Codes, zum Beispiel aufstellbare Barcodes und/oder aufbringbare, insbesondere selbstklebende und/oder aufstellbare, Barcodes, und/oder, insbesondere elektronische, Marker und/oder dreidimensionale Laserscannerzielmarken und/oder dreidimensionale Marker. Insbesondere können Barcodes zur Anbringung auf der Oberfläche oder aufstellbare Marker verwendet werden. Aufstellbare Marker können Information in Ihrer Form, Oberflächenstruktur und/oder Oberflächenbeschaffenheit und/oder in einem aufgedruckten Code beinhalten. Aufstellbare Marker haben den Vorteil, dass sie die zu bearbeitende Oberfläche nicht verdecken. Sie können beispielsweise auf dem Boden mit einem Abstand von mindestens 0 cm, insbesondere von mindestens 2 cm, bis zu 20 cm vor einer Wand aufgestellt werden. So sind sie bei der Bearbeitung der Wand nicht im Weg. The object is also achieved by a system having a robot according to the invention, at least one camera and at least one Spray gun and/or a grinding machine and/or a tool for surface treatment and in particular by a system having a robot according to the invention, at least one camera and at least one spray gun and/or a grinding machine and/or a tool for surface treatment and/or inspection and one or a plurality of markings for attachment, attachment and/or installation on the surface, in particular the wall, ceiling or floor. The markings are advantageously codes, for example barcodes that can be set up and/or barcodes that can be set up, in particular self-adhesive and/or set up, and/or, in particular electronic, markers and/or three-dimensional laser scanner target marks and/or three-dimensional markers. In particular, barcodes for attachment to the surface or markers that can be set up can be used. Deployable markers may include information in their shape, surface texture and/or finish and/or in an imprinted code. Stand-up markers have the advantage that they do not cover the surface to be worked on. For example, they can be placed on the floor at a distance of at least 0 cm, in particular at least 2 cm, up to 20 cm in front of a wall. So they are not in the way when working on the wall.
Mit Vorteil umfassen Codes Barcodes und/oder RFID Kennungen, insbesondere NFC Kennungen. Codes advantageously include barcodes and/or RFID identifiers, in particular NFC identifiers.
Mit Vorteil sind die angetriebenen Räder durch mindestens zwei motorisierte Räder gebildet. Insbesondere sind die motorisierten Räder je um eine Drehachse drehbar und/oder, insbesondere separat, ansteuerbar, insbesondere um die Drehgeschwindigkeit der Räder einzeln zu steuern. Mit Vorteil sind die angetriebenen Räder, insbesondere die motorisierten Räder, um jeweils eine Lenkachsechse, schwenkbar, insbesondere rotierbar. Insbesondere ist das erste angetriebene Rad um eine erste Lenkachsechse und das zweite angetriebene Rad um eine zweite Lenkachsechse schenkbar, insbesondere rotierbar. Insbesondere ist die erste Lenkachsechse, insbesondere echt, parallel zur zweiten Lenkachsechse angeordnet. Insbesondere ist die Schwenkung der angetriebenen Rades steuerbar, insbesondere die Schwenkung des ersten angetriebenen Rades der separat von der Schwenkung des zweiten angetriebenen Rades steuerbar, insbesondere ist dazu je Lenkachsechse mindestens ein Motor vorgesehen. The driven wheels are advantageously formed by at least two motorized wheels. In particular, the motorized wheels can each be rotated about an axis of rotation and/or can be controlled, in particular separately, in particular in order to control the rotational speed of the wheels individually. The driven wheels, in particular the motorized wheels, are advantageously pivotable, in particular rotatable, about a respective steering axle axis. In particular, the first driven wheel can be pivoted, in particular rotated, about a first steering axis and the second driven wheel about a second steering axis. In particular, the first Steering axis axis, in particular real, arranged parallel to the second steering axis axis. In particular, the pivoting of the driven wheel can be controlled, in particular the pivoting of the first driven wheel can be controlled separately from the pivoting of the second driven wheel, in particular at least one motor is provided for each steering axis.
Mit Vorteil ist das mindestens eine mitlaufende Rad je um Drehachse drehbar und insbesondere um eine Lenkachse schwenkbar, insbesondere rotierbar. Insbesondere sind zwei mitlaufende Räder vorgesehen. Insbesondere ist das erste mitlaufende Rad um eine dritte Lenkachse schwenkbar, insbesondere frei rotierbar. Insbesondere ist das zweite mitlaufende Rad um eine vierte Lenkachse schwenkbar, insbesondere frei rotierbar. Insbesondere ist die dritte Lenkachse, insbesondere echt, parallel zur vierten Lenkachse angeordnet. Insbesondere ist die erste Lenkachse, insbesondere echt, parallel zur dritten Lenkachse angeordnet. Insbesondere ist die Rotation der mitlaufenden Räder um ihre Rotationsachse und/oder Lenkachse nicht steuerbar. Advantageously, the at least one traveling wheel can each be rotated about the axis of rotation and, in particular, pivoted about a steering axis, in particular rotatable. In particular, two idler wheels are provided. In particular, the first idler wheel is pivotable about a third steering axis, in particular freely rotatable. In particular, the second idler wheel is pivotable about a fourth steering axis, in particular freely rotatable. In particular, the third steering axis, in particular real, is arranged parallel to the fourth steering axis. In particular, the first steering axis, in particular real, is arranged parallel to the third steering axis. In particular, the rotation of the idler wheels about their axis of rotation and/or steering axis is not controllable.
Mit Vorteil sind die angetriebenen Räder je an einander diametral gegenüberliegenden Ecke des Fahrgestells angeordnet, insbesondere in einem Abstand zu der jeweiligen Ecke von maximal 10% einer, insbesondere der längsten und/oder kürzesten, Seitenlänge des Fahrgestells. The driven wheels are advantageously arranged at diametrically opposite corners of the chassis, in particular at a maximum distance of 10% from the respective corner of one, in particular the longest and/or shortest, side length of the chassis.
Mit Vorteil sind mindestens, insbesondere genau, zwei mitlaufende Räder vorgesehen. Mit Vorteil sind die mitlaufenden Räder je an einander diametral gegenüberliegenden Ecken des Fahrgestells angeordnet, insbesondere in einem Abstand zu der jeweiligen Ecke von maximal 10% einer, insbesondere der kürzesten und/oder längsten, Seitenlänge des Fahrgestells. Insbesondere sind die angetriebenen Räder je an einander diametral gegenüberliegenden Ecken des Fahrgestells angeordnet und die mitlaufenden Räder an den übrigen Ecken des Fahrgestells. Mit besonderem Vorteil weist der der Roboter eine manuelle, insbesondere lokale, Steuerungseinrichtung auf oder ist er mit einer solchen, insbesondere unmittelbar, gekoppelt. Dabei ist der Roboter insbesondere eingerichtet zum Fahren und Lenken des Roboters sowie zum Bewegen einer und/oder mehrerer in der Aufnahme aufgenommenen Kamera/s durch Heben und Senken des Hubsystems, insbesondere Hebetischsystems, und Ansteuerung des Roboterarms, wobei das Fahren und Lenken und das Bewegen mittels der manuellen Steuerung erfolgt. Insbesondere ist die Steuerungseinrichtung eingerichtet die angetriebenen Räder, insbesondere ihre Bewegung um ihre Drehachsen und/oder Lenkachsen, insbesondere einzeln und/oder separat und/oder unabhängig voneinander, zu steuern. Insbesondere ist die Steuerungseinrichtung zum Bewegen des Roboters/Systems durch Steuern der steuerbar angetriebenen Räder, insbesondere deren Drehgeschwindigkeit, insbesondere um die Drehachse, und/oder zum Lenken des Roboters/Systems durch Steuern der der Bewegung um die Lenkachsen, eingerichtet. Insbesondere erfolgt die Steuerung der Bewegung der angetriebenen Räder um die Drehachsen und/oder Lenkachsen einzeln und/oder separat und/oder unabhängig voneinander. Hierdurch lässt sich bspw. eine besonders gute, insbesondere an die Geometrie der Wand und/oder Decke, insbesondere ihren Verlauf, angepasste, Bewegung des Roboters auch auf kleinstem Raum realisieren. Insbesondere ist die Steuerungseinrichtung eingerichtet auf Basis von Eigenschaften der angetriebenen und/oder mitlaufenden Räder, insbesondere deren Radius, Antriebsleistung, Rollwiederstand, maximaler Bewegung um Lenkachsen, mindestens einen Bewegungsbefehl zum Bewegen des Roboters/Systems und/oder mindestens einen Steuerbefehl zum Steuern der steuerbar angetriebenen Räder zu kalibrieren. Insbesondere ist die Steuerungseinrichtung eingerichtet einen Plan zur Bearbeitung der Oberfläche auf Basis der Kalibration, insbesondere des Bewegungsbefehls und/oder des Steuerbefehls, und gegebenenfalls auf Basis weiterer Sensordaten, insbesondere erkannten Markierungen, und/oder manuell eingegebener Daten zu erstellen. Mit Vorteil weisen die angetriebenen und/oder mitlaufenden Räder einen Durchmesser von mindestens 100 mm, insbesondere mindestens 200 mm, insbesondere mindestens 250 mm, und/oder maximal 1000, insbesondere maximal 500 mm, auf. Advantageously, at least, in particular precisely, two traveling wheels are provided. Advantageously, the traveling wheels are each arranged at diametrically opposite corners of the chassis, in particular at a maximum distance of 10% from the respective corner of one, in particular the shortest and/or longest, side length of the chassis. In particular, the driven wheels are each arranged at diametrically opposite corners of the chassis and the idler wheels at the other corners of the chassis. The robot particularly advantageously has a manual, in particular local, control device or is coupled to such a device, in particular directly. In this case, the robot is set up in particular to drive and steer the robot and to move one and/or more cameras recorded in the mount by raising and lowering the lifting system, in particular the lifting table system, and controlling the robot arm, with the driving and steering and the moving by means of the manual control. In particular, the control device is set up to control the driven wheels, in particular their movement about their axes of rotation and/or steering axes, in particular individually and/or separately and/or independently of one another. In particular, the control device is set up to move the robot/system by controlling the controllably driven wheels, in particular their rotational speed, in particular about the axis of rotation, and/or to steer the robot/system by controlling the movement about the steering axes. In particular, the movement of the driven wheels about the axes of rotation and/or steering axes is controlled individually and/or separately and/or independently of one another. In this way, for example, a particularly good movement of the robot that is adapted in particular to the geometry of the wall and/or ceiling, in particular its course, can be implemented even in the smallest of spaces. In particular, the control device is set up on the basis of properties of the driven and/or follower wheels, in particular their radius, drive power, rolling resistance, maximum movement around steering axes, at least one movement command for moving the robot/system and/or at least one control command for controlling the controllably driven wheels calibrate wheels. In particular, the control device is set up to create a plan for processing the surface based on the calibration, in particular the movement command and/or the control command, and possibly based on further sensor data, in particular recognized markings, and/or manually entered data. The driven and/or idler wheels advantageously have a diameter of at least 100 mm, in particular at least 200 mm, in particular at least 250 mm, and/or at most 1000, in particular at most 500 mm.
Durch die vorgenannte Ausgestaltung, Anordnung und/oder Dimensionierung der Räder, insbesondere angetriebenen Räder, lässt sich besonders gut ein Roboter bereitstellen, der ein Fahrsystem bietet, mithilfe dessen die Bewegung des Roboters sehr genau und präzise sowie sehr kleinräumig steuerbar und realisierbar ist, sodass insbesondere die Genauigkeit der Bearbeitung der Oberfläche realisierbar ist, insbesondere ein Rangieren in den Ecken eines Raumes, insbesondere Innenraumes, reduziert oder vermieden werden kann, was die Genauigkeit der Bearbeitung erhöhen kann. The aforementioned design, arrangement and/or dimensioning of the wheels, in particular driven wheels, makes it particularly easy to provide a robot that offers a driving system with which the movement of the robot can be controlled and implemented very precisely and precisely and in a very small space, so that in particular the accuracy of the processing of the surface can be achieved, in particular maneuvering in the corners of a room, in particular an interior space, can be reduced or avoided, which can increase the accuracy of the processing.
Vorteilhafterweise ist der Roboter eingerichtet zum Erkennen von auf Oberflächen, insbesondere mindestens einer Wand, einer Decke oder einem Boden, aufgebrachten und/oder aufgestellten Barcodes und/oder Markern und/oder dreidimensionalen Laserscannerzielmarken und/oder dreidimensionalen Markern mittels der Kamera, mindestens einer weiteren Kamera und/oder der Laserentfernungsmesser und zur Festlegung eines Bearbeitungsbereichs, insbesondere einer Vielzahl von Bearbeitungsbereichen, auf der Oberfläche auf Basis mindestens eines/einer erkannten Codes, insbesondere Barcodes, Markers, und/oder mindestens eines dreidimensionalen Markers und/oder dreidimensionalen Laserscannerzielmarke und insbesondere einer Eingabe der Form, Höhe und/oder Länge des mindestens einen Bearbeitungsbereichs, wobei die Bestimmung der Position der Barcodes und/oder Marker und/oder dreidimensionalen Markers und/oder dreidimensionale Laserscannerzielmarken insbesondere in Relation zu einem Referenzsystem, insbesondere ausschließlich, mittels der Bilddaten einer Kamera und/oder einer weiteren Kamera, Positionsdaten des Hubsystems und des Roboterarm sowie Messungen der mindestens zwei Laserentfernungsmessern und/oder Ultraschallsensoren und/oder Sensoren erfolgt. Dies erleichtert die Festlegung des Arbeitsplans und somit die Steuerung des Roboters. Auf eine Eingabe oder Eingabemöglichkeit kann aber auch verzichtet werden, insbesondere wenn eine solche Information für den Roboter erkennbar im Code beinhaltet ist. Mit Vorteil wird die Position der Barcodes und/oder Marker und/oder dreidimensionalen Markers und/oder dreidimensionale Laserscannerzielmarken relativ zu dem Referenzsystem gespeichert, insbesondere auf einem, insbesondere externen, Datenspeicher, insbesondere einer Cloud. Mit Vorteil erfolgt die Speicherung derart oder werden die Daten auf dem Speicher derart vorgehalten, dass diese auch später und/oder von einem weiteren System verwendet werden können. The robot is advantageously set up to recognize barcodes and/or markers and/or three-dimensional laser scanner target marks and/or three-dimensional markers applied and/or set up on surfaces, in particular at least one wall, a ceiling or a floor, by means of the camera, at least one additional camera and/or the laser rangefinder and for defining a processing area, in particular a large number of processing areas, on the surface on the basis of at least one recognized code, in particular barcodes, markers, and/or at least one three-dimensional marker and/or three-dimensional laser scanner target and in particular an input the shape, height and/or length of the at least one processing area, with the determination of the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks, in particular in relation to a reference system, in particular exclusively, using image data from a camera and /or another camera, position data of the lifting system and the robot arm and measurements of the at least two laser range finders and/or Ultrasonic sensors and / or sensors takes place. This makes it easier to define the work plan and thus to control the robot. However, an input or an input option can also be dispensed with, in particular if such information is included in the code in a way that the robot can see it. The position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks is advantageously stored relative to the reference system, in particular on a data storage medium, in particular an external one, in particular a cloud. Advantageously, the storage takes place or the data are stored in the memory in such a way that they can also be used later and/or by another system.
Mit Vorteil werden, insbesondere mittels weiterer Sensoren, Leistungsdaten und/oder Maschinendaten, insbesondere des Roboters, insbesondere des Roboterarms und/oder der an dem Roboterarm aufgenommenen und/oder mit dem Roboterarm kontaktierte Komponenten, Kamera, Sprühpistole, Schleifmaschine und/oder weiterer Werkezuge zur Bearbeitung und/oder Inspektion von Oberflächen, erfasst. Advantageously, in particular by means of additional sensors, performance data and/or machine data, in particular of the robot, in particular of the robot arm and/or the components mounted on the robot arm and/or contacted with the robot arm, camera, spray gun, grinding machine and/or other tools for processing and/or inspection of surfaces.
Mit Vorteil werden, insbesondere mittels weiterer Sensoren, Umgebungsdaten, insbesondere Umweltdaten in der Umgebung des Roboters, insbesondere direkt, erfasst, wobei die Umgebungsdaten beispielsweise die Temperatur, Luftfeuchtigkeit, Druck und/oder Helligkeit umfasst. Ambient data, in particular environmental data in the area surrounding the robot, is advantageously recorded, in particular directly, in particular by means of additional sensors, the environmental data including, for example, the temperature, humidity, pressure and/or brightness.
Mit Vorteil wird ein Abschnitt des Bearbeitungsbereichs und/oder der Oberfläche, insbesondere der Abschnitt, der schon, insbesondere mittels der Sprühpistole und/oder Schleifmaschine und/oder des weiteren Werkzeugs, bearbeitet wurde, insbesondere mittels eines Messgeräts, insbesondere eines zusätzlichen Messgerätes, insbesondere einem Lasertracker, und/oder mittels der mindestens zwei Laserentfernungsmessern und/oder Ultraschallsensoren und/oder Sensoren und/oder der Kamera, inspiziert, überwacht und/oder betrachtet und/oder daran Daten, insbesondere optische Daten, wie Bilder, genommen und insbesondere ausgewertet. Mit Vorteil erfolgt bei der Auswertung ein Vergleich eines Sollwerts, der insbesondere einem bei der Bearbeitung der Oberfläche vorgegebenen Sollwert entspricht, und eines Istwertes, der sich aus der Überwachung, Betrachtung und/oder Daten-Nahme ergibt. Insbesondere wird aufgrund und auf Basis des Vergleichs die Bearbeitung eines weiteren Abschnitts der Oberfläche und/oder des Bearbeitungsbereichs basierend auf dem Vergleich angepasst und insbesondere werden die Parameter zur Bearbeitung der mit des weiteren Abschnitts der Oberfläche und/oder des Bearbeitungsbereichs basierend auf dem Vergleich angepasst. Insbesondere wird der Abschnitt des Bearbeitungsbereichs und/oder der Oberfläche abermals aufgrund und basierend auf den Vergleich mit auf dem Vergleich basierenden angepassten Parametern bearbeitet. Insbesondere wird mit dem Vorgenannten eine durch eine Schwingung des Roboterarms hervorgerufene Unebenheit oder Unsauberkeit der Oberflächenbehandlung erkannt und basierend auf dem Vergleich angepasste Parameter zur Bearbeitung weiterer oder des schon bearbeiteten Abschnitts erstellt. Insbesondere erfolgt die Überwachung, Betrachtung und/oder Daten-Nahme und insbesondere die Auswertung und der Vergleich in Echtzeit. Advantageously, a section of the processing area and/or the surface, in particular the section that has already been processed, in particular by means of the spray gun and/or grinding machine and/or the additional tool, in particular by means of a measuring device, in particular an additional measuring device, in particular a laser tracker, and/or by means of the at least two laser range finders and/or ultrasonic sensors and/or sensors and/or the camera, inspected, monitored and/or viewed and/or data, in particular optical data, such as images, taken and in particular evaluated. Advantageously, during the evaluation, a setpoint value is compared, which in particular corresponds to a target value specified during processing of the surface, and an actual value resulting from monitoring, observation and/or data acquisition. In particular, due to and based on the comparison, the processing of a further section of the surface and/or the processing area is adjusted based on the comparison, and in particular the parameters for processing the further section of the surface and/or the processing area are adjusted based on the comparison. In particular, the portion of the processing area and/or the surface is again processed due to and based on the comparison with adjusted parameters based on the comparison. In particular, with the aforementioned, an unevenness or imperfection of the surface treatment caused by a vibration of the robot arm is recognized and, based on the comparison, adjusted parameters are created for the machining of further sections or the already machined section. In particular, the monitoring, viewing and/or data acquisition and in particular the evaluation and comparison takes place in real time.
Mit Vorteil wird die Position der Barcodes und/oder Marker und/oder dreidimensionalen Markers und/oder dreidimensionale Laserscannerzielmarken relativ zu dem Referenzsystem gespeichert und die relativen Positionen und/oder die absoluten Positionen auf Basis eines vorbestimmten und/oder bekannten absoluten Wertes des Referenzsystems, ausgewertet, um insbesondere die Positionen zueinander darzustellen, insbesondere die durch die Positionen definierte Umgebung darzustellen, insbesondere ein Rastersystem zu erstellen. Mit Vorteil wird zumindest einem ersten Teil der Umgebung oder des Rastersystem und/oder einer ersten Anzahl an Position eine erste Eigenschaft oder erste Eigenschaften, wie beispielsweise ein Farbwert, eine Farbintensität, und/oder ein Andruckgewicht, zugeordnet, und insbesondere zumindest einem weiteren, zweiten Teil der Umgebung oder des Rastersystem und/oder einer weiteren, zweiten Anzahl an Position eine zweite Eigenschaft oder zweite Eigenschaften zugeordnet. Mit Vorteil werden die erfassten Sensordaten und/oder Daten, wie Maschinendaten, Leistungsdaten, Umgebungsdaten, Positionen, insbesondere Position der Barcodes und/oder Marker und/oder dreidimensionalen Markers und/oder dreidimensionale Laserscannerzielmarken, zumindest temporär gespeichert, insbesondere im System und/oder auf einem am Roboter angeordneten Speichermedium, und/oder in einer Cloud und/oder auf einem externen, insbesondere nicht lokalen Datenspeicher, insbesondere einer Cloud, weitergegeben. The position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks is advantageously stored relative to the reference system and the relative positions and/or the absolute positions are evaluated on the basis of a predetermined and/or known absolute value of the reference system , in particular to show the positions relative to one another, in particular to show the environment defined by the positions, in particular to create a grid system. Advantageously, at least a first part of the environment or the grid system and/or a first number of positions is assigned a first property or properties, such as a color value, a color intensity, and/or a pressure weight, and in particular at least one additional, second Part of the environment or the grid system and / or a further, second number of position assigned a second property or second properties. Advantageously, the recorded sensor data and/or data, such as machine data, performance data, environmental data, positions, in particular the position of the barcodes and/or markers and/or three-dimensional markers and/or three-dimensional laser scanner target marks, are stored at least temporarily, in particular in the system and/or on a storage medium arranged on the robot and/or in a cloud and/or on an external, in particular non-local data storage device, in particular a cloud.
Bevorzugt ist der Roboter eingerichtet zum Erkennen von mindestens einem/einer auf einer Fläche und/oder Wand, und/oder einer Decke und/oder einem Boden und/oder Oberfläche aufgebrachten und/oder aufgestellten Code, wie Barcode und/oder Marker und/oder dreidimensionalen und/oder elektronischen Laserscannerzielmarke und/oder dreidimensionalen Marker enthalten Information zur Lage und/oder Begrenzung eines Bearbeitungsbereichs relativ zum Code, beispielsweise zum Barcode und/oder Marker mittels Kamera und/oder mindestens einer weiteren Kamera und/oder der Laserentfernungsmesser und/oder Ultraschallsensoren und ist der Roboter eingerichtet zur Festlegung eines, insbesondere einer Vielzahl, von Bearbeitungsbereichen auf Basis mindestens eines erkannten Codes, wie Barcode und/oder dreidimensionaler Marker und oder Marke und/oder und/oder dreidimensionale Laserscannerzielmarke und darin enthaltenen Information zur Lage und/oder Begrenzung des Bearbeitungsbereichs und insbesondere einer Eingabe der Form, Höhe und/oder Länge des mindestens einen Bearbeitungsbereichs, wobei der Roboter insbesondere eingerichtet ist, die Position des Codes, wie Barcodes und/oder dreidimensionaler Marker und/oder dreidimensionale Marke und oder Marke und/oder dreidimensionaler Marker und/oder dreidimensionale Laserscannerzielmarke in einem Referenzsystem, insbesondere ausschließlich, mittels der Bilddaten der Kamera und/oder der weiteren Kamera, Positionsdaten des Hubsystems und des Roboterarm sowie Messungen der mindestens zwei Laserentfernungsmessern und/oder Ultraschallsensoren zu bestimmen. Dies erleichtert die Festlegung des Arbeitsplans und somit die Steuerung des Roboters. The robot is preferably set up to recognize at least one code applied and/or set up on a surface and/or wall and/or a ceiling and/or a floor and/or surface, such as a barcode and/or marker and/or three-dimensional and/or electronic laser scanner target mark and/or three-dimensional marker contain information on the position and/or delimitation of a processing area relative to the code, for example to the barcode and/or marker by means of a camera and/or at least one additional camera and/or the laser range finder and/or ultrasonic sensors and the robot is set up to define one, in particular a large number of processing areas on the basis of at least one recognized code, such as a barcode and/or three-dimensional marker and/or brand and/or and/or three-dimensional laser scanner target mark and information contained therein on the position and/or boundary of the processing area and in particular an input of the shape, height and/or length of the at least one processing area, the robot being set up in particular to determine the position of the code, such as barcodes and/or three-dimensional marker and/or three-dimensional mark and or mark and/or three-dimensional Marker and/or three-dimensional laser scanner target in a reference system, in particular exclusively using the image data from the camera and/or the additional camera, position data from the lifting system and the robot arm, and measurements from the at least two laser rangefinders and/or ultrasonic sensors determine. This makes it easier to define the work plan and thus to control the robot.
Mit Vorteil ist der Roboter eingerichtet zum automatischen Bearbeiten und/oder Schleifen und/oder Sprühen und/oder Bearbeiten eines Bearbeitungsbereichs, insbesondere einer Mehrzahl von Bearbeitungsbereichen einer Oberfläche. Dies erleichtert die Steuerung des Roboters. The robot is advantageously set up for automatically processing and/or grinding and/or spraying and/or processing a processing area, in particular a plurality of processing areas of a surface. This makes it easier to control the robot.
Bevorzugt ist der Roboter eingerichtet zum automatischen Beenden der Aktivität, des automatischen Bearbeitens, insbesondere des Schleifens und/oder Sprühens bei und/oder korrespondierend zu der Erkennung eines Stoppcodes in einem Code wie einem Barcode und/oder Marker und/oder dreidimensionale Laserscannerzielmarke und/oder dreidimensionalen Marker, insbesondere mittels der Laserscanner und/oder Ultraschallsensoren und/oder einer oder mehrerer Kameras. Dies kann die Arbeitssicherheit deutlich erhöhen und ein Steuern des Roboters erleichtern. The robot is preferably set up to automatically end the activity, the automatic processing, in particular the grinding and/or spraying, upon and/or corresponding to the detection of a stop code in a code such as a barcode and/or marker and/or three-dimensional laser scanner target and/or three-dimensional markers, in particular by means of laser scanners and/or ultrasonic sensors and/or one or more cameras. This can significantly increase occupational safety and make it easier to control the robot.
Mit besonderem Vorteil ist der Roboter eingerichtet zum automatischen Beginn einer Aktivität, des Schleifens und/oder Sprühens bei der Erkennung eines Startcodes in einem/einer Barcode und/oder dreidimensionalen Marker, insbesondere mittels der Laserscanner und/oder einer Kamera, insbesondere eines vordefinierten relativ zur Position des/der Barcodes und/oder Markers und/oder dreidimensionalen Laserscannerzielmarke und/oder dreidimensionalen Markers und/oder absolut definierten Bearbeitungsbereichs. The robot is particularly advantageously set up to automatically start an activity, grinding and/or spraying when recognizing a start code in a barcode and/or three-dimensional marker, in particular by means of the laser scanner and/or a camera, in particular a predefined one relative to the Position of the barcode(s) and/or marker and/or three-dimensional laser scanner target mark and/or three-dimensional marker and/or absolutely defined processing area.
Bevorzug ist der Roboter eingerichtet zur Entgegennahme einer Eingabe bezüglich der Form, Länge und/oder Höhe eines Bearbeitungsbereichs, sowie insbesondere zur Anzeige der Eingabe. Dies kann die Festlegung der Bearbeitungsbereiche erleichtern. So kann mit einem oder wenigen Parametern ein Bearbeitungsbereich insbesondere relativ zu einem Barcode und/oder Marker und/oder dreidimensionalen Laserscannerzielmarke und/oder dreidimensionalen Marker vorgenommen werden Insbesondere ist das Hubsystem, insbesondere ausschließlich, vertikal, insbesondere senkrecht, zur Verfahrebene des Fahrgestells und/oder der Achsen der Räder verfahrbar. Dazu weist der Roboter insbesondere eine entsprechende Vorrichtung, insbesondere mindestens eine Lagerung und mindestens einen Antrieb auf. Mit Vorteil weist das Hubsystem mindestens einen Hebetisch auf. Mit Vorteil ist das Hubsystem, insbesondere Hebetischsystem, insbesondere der Hebetisch, mittels mindestens eines Teleskoparms vertikal verfahrbar, wobei der mindestens eine Teleskoparm insbesondere zwischen einem Hebetisch des Hebetischsystems und Verfahrebene des Fahrgestells und/oder der Achsen der Räder angeordnet ist. Mit Vorteil weist das Hebetischsystem mindestens einen Hebetisch auf, insbesondere mindestens zwei Hebetische, die aufeinander angeordnet sind. Mit Vorteil weist das Hebetischsystem mindestens einen Hebetisch auf, der mittels eines Hubsystem mit dem Fahrgestell verbunden ist, wobei das Hubsystem mindestens zwei Hebesysteme aufweist, wobei zumindest ein erstes Hebesystem mit dem Fahrgestell verbunden ist und ein zweites Hebesystem mit dem Hebetisch verbunden ist, wobei das erste Hebesystem insbesondere auch mit dem zweiten Hebesystem und/oder das zweite Hebesystem insbesondere auch mit dem ersten Hebesystem verbunden ist. Insbesondere ist das Hubsystem, insbesondere das erste Hebesystem, eingerichtet ein Hebeteil gegenüber dem Fahrgestell, insbesondere vertikal, zu verfahren und ist das Hubsystem, insbesondere das zweite Hebesystem, eingerichtet, den Hebetisch gegenüber dem Hebeteil, insbesondere vertikal, zu verfahren. Das Hebeteil kann gemeinsamer Bestandteil des ersten und zweiten Hebesystems sein. The robot is preferably set up to accept an input regarding the shape, length and/or height of a processing area, and in particular to display the input. This can make it easier to define the working areas. A processing area can thus be undertaken with one or a few parameters, in particular relative to a barcode and/or marker and/or three-dimensional laser scanner target mark and/or three-dimensional marker In particular, the lifting system can be moved, in particular exclusively, vertically, in particular perpendicularly, to the travel plane of the chassis and/or the axles of the wheels. For this purpose, the robot has in particular a corresponding device, in particular at least one bearing and at least one drive. The lifting system advantageously has at least one lifting table. Advantageously, the lifting system, in particular the lifting table system, in particular the lifting table, can be moved vertically by means of at least one telescopic arm, with the at least one telescopic arm being arranged in particular between a lifting table of the lifting table system and the travel plane of the chassis and/or the axles of the wheels. The lifting table system advantageously has at least one lifting table, in particular at least two lifting tables, which are arranged one on top of the other. The lifting table system advantageously has at least one lifting table which is connected to the chassis by means of a lifting system, the lifting system having at least two lifting systems, at least a first lifting system being connected to the chassis and a second lifting system being connected to the lifting table, the first lifting system is also connected in particular to the second lifting system and/or the second lifting system is also connected in particular to the first lifting system. In particular, the lifting system, in particular the first lifting system, is set up to move a lifting part in relation to the chassis, in particular vertically, and the lifting system, in particular the second lifting system, is set up to move the lifting table in relation to the lifting part, in particular vertically. The lifting part can be a common part of the first and second lifting system.
Insbesondere ist das erste Hebesystem unabhängig von dem zweiten Hebesystem steuerbar oder ist das erste Hebesystem zusammen mit dem zweiten Hebesystem gemeinsam steuerbar. In particular, the first lifting system can be controlled independently of the second lifting system, or the first lifting system can be controlled jointly with the second lifting system.
Vorteilhafterweise ist der Roboter eingerichtet, das Hebetischsystem mittels eines Seilzuges und/oder Teleskopauszuges in der Höhe zu verfahren und insbesondere den Seilzug mittels eines Motors zu bewegen, wobei der Roboter insbesondere so eingerichtet ist, dass der Motor mittels einer im Roboter ausgeführten Software gesteuert wird. Dies stellt eine einfache, robuste und ausreichend genaue sowie zuverlässige Möglichkeit der Ausgestaltung des Hebetischsystems dar. Advantageously, the robot is set up to move the lifting table system by means of a cable and / or telescopic extension in height and in particular to move the cable by means of a motor, the robot in particular so set up so that the motor is controlled by software running in the robot. This represents a simple, robust and sufficiently accurate and reliable way of designing the lifting table system.
Vorteilhafterweise weist der Roboter neben den mindestens zwei ersten Sensoren mindestens zwei zweite Sensoren, insbesondere optische Sensoren, insbesondere Laserscanner, insbesondere Sicherheits-Laserscanner, auf, die insbesondere eingerichtet sind, in einer vertikalen Ebene Objekte in mindestens 90°, insbesondere mindestens 150°, um den Roboter herum zu erfassen, insbesondere zu vermessen. Insbesondere wird mithilfe der Sensordaten der ersten Sensoren und/oder den Sensordaten der zweiten Sensoren eine zweidimensionale Karte der Umgebung erstellt. Insbesondere wird mithilfe der Sensordaten der ersten Sensoren und den Sensordaten der zweiten Sensoren ein Ausschnitt der Umgebung in drei Dimensionen berechnet. In addition to the at least two first sensors, the robot advantageously has at least two second sensors, in particular optical sensors, in particular laser scanners, in particular safety laser scanners, which are set up in particular to surround objects in a vertical plane by at least 90°, in particular at least 150° to capture the robot around, in particular to measure. In particular, a two-dimensional map of the surroundings is created using the sensor data from the first sensors and/or the sensor data from the second sensors. In particular, a section of the environment is calculated in three dimensions using the sensor data from the first sensors and the sensor data from the second sensors.
Mit Vorteil weist der Roboter mindestens einen Beschleunigungssensor und/oder mindestens einen Neigungssensor auf. Mit Vorteil weist der Roboter zwischen Fahrgestellt und Hebetischsystem und/oder zwischen Hebetischsystem und Roboterarm und/oder zwischen Roboterarm und Aufnahme, insbesondere je, mindestens einen Neigungssensor auf. Insbesondere ist der mindestens eine Neigungssensor zwischen Roboterarm und Aufnahme angeordnet. Insbesondere besteht zwischen dem mindestens einen Beschleunigungssensor und/oder dem mindestens einen Neigungssensor und der Steuerungseinrichtung eine, insbesondere drahtlose oder kabelgebundene, Kommunikationsverbindung, wobei die Steuerungseinrichtung eingerichtet ist, auf Basis der Daten des mindestens einen Beschleunigungssensor und/oder mindestens einen Neigungssensor den Roboterarm und/oder die Räder der ersten Einheit zu steuern. The robot advantageously has at least one acceleration sensor and/or at least one inclination sensor. The robot advantageously has at least one inclination sensor between the chassis and the lifting table system and/or between the lifting table system and the robot arm and/or between the robot arm and the receptacle, in particular in each case. In particular, the at least one inclination sensor is arranged between the robot arm and the receptacle. In particular, there is a communication connection, in particular wireless or wired, between the at least one acceleration sensor and/or the at least one inclination sensor and the control device, the control device being set up to control the robot arm and/or the robot arm and/or on the basis of the data from the at least one acceleration sensor and/or at least one inclination sensor or to control the wheels of the first unit.
Mit Vorteil ist die Steuerungseinrichtung eingerichtet, auf Basis der Sensordaten der mindestens zwei ersten und/oder mindestens zwei zweiten Sensoren einen Anstellwinkel und/oder einen Andruck der/des in der Aufnahme aufgenommenen Schleifmaschine und/oder Werkzeug zu bestimmen und/oder zu ändern und/oder zu steuern. Es ist beispielsweise möglich, mittels der mindestens zwei ersten und/oder mindestens zwei zweiten Sensoren zu erkennen, dass der Roboter auf einer unebenen Fläche steht und daher in Relation zu einer zu bearbeitenden Wand nicht im rechten Winkel steht bzw. fährt oder dass die zu bearbeitende Wand nicht genau vertikal verläuft, weshalb es einer Anpassung des Roboterarms bzw. des Anstellwinkels des in der Aufnahme aufgenommenen Werkzeugs bzw. der Schleifmaschine bedarf. The control device is advantageously set up, on the basis of the sensor data from the at least two first and/or at least two second sensors, to calculate an angle of attack and/or a contact pressure of the object recorded in the receptacle determine and/or modify and/or control the grinding machine and/or tool. It is possible, for example, to use the at least two first and/or at least two second sensors to detect that the robot is standing on an uneven surface and is therefore not standing or moving at a right angle in relation to a wall to be processed, or that the wall to be processed The wall is not exactly vertical, which is why it is necessary to adjust the robot arm or the angle of attack of the tool or grinding machine held in the holder.
Mit Vorteil ist die Steuerungseinrichtung eingerichtet, auf Basis der Sensordaten der mindestens zwei ersten und/oder mindestens zwei zweiten Sensoren einen Anstellwinkel und/oder einen Andruck der/des in der Aufnahme aufgenommenen Schleifmaschine und/oder Werkzeug so zu ändern und/oder zu steuern, dass das Arbeitsmittel, beispielsweise Schleifmittel und/oder Werkzeug parallel und/oder plan zur Wand geführt wird. The control device is advantageously set up, on the basis of the sensor data from the at least two first and/or at least two second sensors, to change and/or control an angle of attack and/or a contact pressure of the grinding machine and/or tool accommodated in the receptacle in such a way that that the work equipment, for example abrasives and/or tools, is guided parallel and/or flat to the wall.
Vorteilhafterweise ist zwischen Roboterarm und Aufnahme mindestens ein Kraftsensor angeordnet. Insbesondere ist der Kraftsensor eingerichtet, die auf die/das in der Aufnahme aufgenommenen Schleifmaschine und/oder Werkzeug einwirkenden Kräfte als Sensordaten zu erfassen. Vorteilhafterweise weist der Roboter mindestens einen weiteren Kraftsensor auf, der eingerichtet ist, die auf den Roboter einwirkenden Kräfte als Sensordaten zu erfassen. Insbesondere besteht zwischen dem mindestens einen Kraftsensor, und insbesondere gegebenenfalls dem mindestens einen weiteren Kraftsensor, und der Steuerungseinrichtung eine, insbesondere drahtlose oder kabelgebundene, Kommunikationsverbindung, wobei die Steuerungseinrichtung eingerichtet ist, auf Basis der Sensordaten des mindestens einen Kraftsensors, und insbesondere den mindestens einen weiteren Kraftsensors, einen Anstellwinkel und/oder einen Andruck der/des in der Aufnahme aufgenommenen Schleifmaschine und/oder Werkzeug zu bestimmen und/oder zu ändern und/oder zu steuern. At least one force sensor is advantageously arranged between the robot arm and the receptacle. In particular, the force sensor is set up to record the forces acting on the grinding machine and/or tool accommodated in the receptacle as sensor data. The robot advantageously has at least one further force sensor which is set up to record the forces acting on the robot as sensor data. In particular, there is a communication connection, in particular wireless or wired, between the at least one force sensor, and in particular optionally the at least one additional force sensor, and the control device, with the control device being set up on the basis of the sensor data of the at least one force sensor, and in particular the at least one additional one To determine and/or change and/or control a force sensor, an angle of attack and/or a contact pressure of the grinding machine and/or tool accommodated in the receptacle.
Insbesondere ist die Steuerungseinrichtung eingerichtet, die Sensordaten zu erhalten und auszuwerten, wobei bei der Auswertung die Sensordaten des mindestens einen, zwischen Roboterarm und Aufnahme angeordneten, Kraftsensors dadurch gefiltert werden, dass diese Sensordaten auf Basis der Sensordaten des mindestens einen weiteren Kraftsensors und/oder auf Basis der Sensordaten der mindestens zwei ersten und/oder mindestens zwei zweiten Sensoren und/oder auf Basis der Sensordaten des mindestens einen Beschleunigungssensors und/oder mindestens einen Neigungssensors und/oder auf Basis einer Kenntnis einer Eigenschaft der/des an der Aufnahme angeordneten Schleifmaschine und/oder Werkzeug, bspw. der Feinheit des Schleifmittels der Schleifmaschine, und/oder eines Arbeitsschrittes des Arbeitsplans, der zum Zeitpunkt der Erfassung dieser Sensordaten des mindestens einen, zwischen Roboterarm und Aufnahme angeordneten, Kraftsensors durchgeführt wurde, korrigiert werden. In particular, the control device is set up to receive the sensor data and evaluate, whereby during the evaluation the sensor data of the at least one force sensor arranged between the robot arm and the holder is filtered in that this sensor data is based on the sensor data of the at least one further force sensor and/or on the basis of the sensor data of the at least two first and/or at least two second sensors and/or based on the sensor data of the at least one acceleration sensor and/or at least one inclination sensor and/or based on knowledge of a property of the grinding machine and/or tool arranged on the holder, e.g. the fineness of the abrasive Grinding machine, and/or a work step of the work plan that was carried out at the time this sensor data was recorded by the at least one force sensor arranged between the robot arm and the receptacle.
Mit Vorteil ist die Steuerungseinrichtung eingerichtet, auf Basis der, insbesondere gefilterten, Kraftmessdaten einen Anstellwinkel und/oder einen Andruck der/des in der Aufnahme aufgenommenen Schleifmaschine und/oder Werkzeug so zu ändern und/oder zu steuern, dass das Arbeitsmittel, beispielsweise Schleifmittel und/oder Werkzeug parallel und/oder plan zur Wand geführt wird. The control device is advantageously set up to change and/or control an angle of attack and/or a contact pressure of the grinding machine and/or tool accommodated in the holder on the basis of the, in particular filtered, force measurement data in such a way that the working medium, for example grinding medium and /or tools are guided parallel and/or flat to the wall.
Mit Vorteil weist der Roboter mindestens eine Eingabevorrichtung auf, insbesondere ein Touchscreen, die insbesondere eingerichtet ist Befehle für die Steuerungseinrichtung entgegenzunehmen. Insbesondere ist die Eingabevorrichtung eingerichtet, Daten des Roboters, Sensordaten oder den Arbeitsplan oder dessen Verlauf, insbesondere Restverlauf, anzuzeigen. The robot advantageously has at least one input device, in particular a touchscreen, which is set up in particular to receive commands for the control device. In particular, the input device is set up to display data from the robot, sensor data or the work plan or its progress, in particular the remaining progress.
Bevorzugt ist der Roboter eingerichtet, mehrere Sicherheitsbereiche um den Roboter, insbesondere mittels der Laserentfernungsmesser und/oder Ultraschallsensoren, zu überwachen und das Vorhandensein von Objekten, insbesondere Menschen, in den Sicherheitsbereichen zu erkennen, wobei die Sicherheitsbereiche so angeordnet sind, das mindestens ein erster Sicherheitsbereich einen zweiten Sicherheitsbereich vollständig oder teilweise umgibt und wobei der Roboter eingereicht ist, auf das Vorhandensein von Objekten, insbesondere Menschen, in den verschiedenen Sicherheitsbereichen unterschiedlich zu reagieren, wobei bei Objekten, insbesondere Menschen, in einem der Sicherheitsbereichen ein, insbesondere sofortiges, Abschalten und/oder Stillstehen des Roboters bewirkt wird und in einem anderen Sicherheitsbereich kein Abschalten und kein Stillstehen bewirkt wird, sondern eine, insbesondere akustische und/oder optische, Warnung durch den Roboter erfolgt. Dies ermöglicht ein sicheres Arbeiten von Menschen in der Umgebung des Roboters ohne die Arbeit des Roboters unnötig einzuschränken oder zu unterbrechen. The robot is preferably set up to monitor several safety areas around the robot, in particular by means of the laser range finder and/or ultrasonic sensors, and to detect the presence of objects, in particular people, in the safety areas, with the safety areas being arranged in such a way that at least one first safety area completely or partially surrounds a second security area and wherein the robot is submitted to which The presence of objects, in particular people, in the various safety areas to react differently, with objects, in particular people, in one of the safety areas causing the robot to be switched off and/or stopped, in particular immediately, and not switched off and not stopped in another safety area is effected, but a warning, in particular an acoustic and/or visual warning, is given by the robot. This allows people to work safely in the vicinity of the robot without unnecessarily restricting or interrupting the work of the robot.
Die Aufgabe wird auch durch ein Verfahren zur Bearbeitung einer Oberfläche durch einen erfindungsgemäßen Roboter gelöst. Insbesondere wird hierfür eine Oberfläche mit einer Kamera, die an der Kontaktierung des Roboterarms des erfindungsgemäßen Roboters angeordnet ist, erfasst, wobei zumindest ein Teil dieser Oberfläche von einem in der Aufnahme des Roboterarms aufgenommenen Werkzeugs bearbeitet wird. Hinsichtlich der weiteren vorteilhaften Eigenschaften des Roboters und dessen Eignung und Einrichtung, wird auf vorangehendes verwiesen. The object is also achieved by a method for processing a surface using a robot according to the invention. In particular, a surface is recorded for this purpose with a camera that is arranged on the contact point of the robot arm of the robot according to the invention, with at least part of this surface being machined by a tool accommodated in the receptacle of the robot arm. With regard to the other advantageous properties of the robot and its suitability and setup, reference is made to the above.
Fign. 1 und 2 zeigen nicht beschränkend und rein exemplarisch Ansichten eines erfindungsgemäßen Roboters. Zu erkennen ist ein Fahrgestell mit zwei Rädern 5 und einem lenkbaren Doppelrad 4 sowie zwei Laserscannern 3. Auf dem Fahrgestell ist ein Hebetisch 6 mit Verfahrvorrichtung angeordnet. Auf dem Hebetisch ist ein Roboterarm 6 montiert, der eine Aufnahme aufweist, in die in den Figuren eine Schleifmaschine 2 aufgenommen ist. Figs. 1 and 2 show non-limiting and purely exemplary views of a robot according to the invention. A chassis with two wheels 5 and a steerable double wheel 4 and two laser scanners 3 can be seen. A lifting table 6 with a traversing device is arranged on the chassis. A robotic arm 6 is mounted on the lifting table and has a seat in which a grinding machine 2 is seated in the figures.
Bezugszeichenliste reference list
1 Roboterarm 1 robotic arm
2 Schleifmaschine 2 grinding machine
3 Laserscanner 3 laser scanners
4 Lenkbares Doppelrad 5 Rad 4 steerable double wheel 5 wheels
6 Hebetisch 6 lifting table

Claims

Ansprüche Expectations
1. Roboter zur Bearbeitung von Oberflächen, insbesondere Wänden, Decken und/oder Böden aufweisend a. ein Fahrgestell mit mindestens zwei angetriebenen Rädern b. mindestens zwei am Fahrgestell einander diametral gegenüberliegenden erste Sensoren, insbesondere Laserentfernungsmessern und/oder Ultraschallsensoren, insbesondere Laserscannern (3), die eingerichtet sind, eine horizontale Ebene 360° um den Roboter herum zu vermessen, c. einen auf dem Fahrgestell angeordneten Hubsystem, insbesondere Hebetisch (6), auf dem ein mindestens zwei-, insbesondere maximal achtachsiger, Roboterarm (1) montiert ist, wobei der Roboterarm eine Aufnahme und Kontaktierungen zur wahlweisen Aufnahme und Kontaktierung einer Kamera, und/oder eines Werkzeuges, insbesondere einer Sprühpistole und/oder einer Schleifmaschine (2), aufweist. 1. Having robots for processing surfaces, in particular walls, ceilings and/or floors a. a chassis with at least two driven wheels b. at least two first sensors diametrically opposite one another on the chassis, in particular laser range finders and/or ultrasonic sensors, in particular laser scanners (3), which are set up to measure a horizontal plane 360° around the robot, c. a lifting system arranged on the chassis, in particular a lifting table (6), on which a robot arm (1) with at least two axes, in particular a maximum of eight axes, is mounted, the robot arm having a receptacle and contacts for selectively receiving and contacting a camera and/or a Tool, in particular a spray gun and / or a grinding machine (2).
2. Roboter nach Anspruch 1, wobei das Fahrgestell mindestens, insbesondere genau, zwei angetriebenen Räder, die je zur Rotation um eine Drehachse angetrieben und zum Schwenken, insbesondere Rotieren, um je eine Lenkachse angetrieben ausgeführt sind und insbesondere einander diametral gegenüberliegend an einer ersten und einer zweiten Ecke am Fahrgestell angeordnet sind, und mindestens ein, insbesondere zwei, mitlaufende Räder, die je um eine Lenkachse schwenkbar, insbesondere frei rotierbar und insbesondere einander diametral gegenüberliegend an einer dritten und einer vierten Ecke am Fahrgestell angeordnet sind, aufweist. Roboter nach einem der vorstehenden Ansprüche, wobei das Hubsystem, insbesondere ein erstes Hebesystem, eingerichtet ein Hebeteil gegenüber dem Fahrgestell, insbesondere vertikal, zu verfahren und ist das Hubsystem, insbesondere ein zweites Hebesystem, eingerichtet, den Roboterarm gegenüber dem Hebeteil, insbesondere vertikal, zu verfahren. Roboter nach einem der vorstehenden Ansprüche, wobei der Roboter eine manuelle, insbesondere lokale, Steuerungseinrichtung aufweist oder mit einer solchen, insbesondere unmittelbar, gekoppelt ist, und wobei der Roboter eingerichtet ist zum Fahren und Lenken des Roboters sowie zum Bewegen einer in der Aufnahme aufgenommenen Kamera durch Heben und Senken des Hebetisches und Ansteuerung des Roboterarms, wobei das Fahren und Lenken und das Bewegen mittels der manuellen Steuerung erfolgt. Roboter nach einem der vorstehenden Ansprüche eingerichtet zum Erkennen von auf Oberflächen, insbesondere mindestens einer Wand, einer Decke oder einem Boden, aufgebrachten und/oder aufgestellten Markierungen, insbesondere Codes, mittels der Kamera, mindestens einer weiteren Kamera und/oder der Laserentfernungsmesser und/oder Ultraschallsensoren und zur Festlegung eines, insbesondere einer Vielzahl, von Bearbeitungsbereichen auf der Oberfläche auf Basis mindestens einem erkannten Code und insbesondere einer Eingabe der Form, Höhe und/oder Länge mindestens eines Bearbeitungsbereichs, wobei die Position des mindestens einen Codes in einem Referenzsystem, insbesondere ausschließlich, mittels der Bilddaten der Kamera und/oder der weiteren Kamera, Positionsdaten des Hebetischs und des Roboterarms sowie Messungen der mindestens zwei Laserentfernungsmesser erfolgt. Roboter nach einem der vorstehenden Ansprüche eingerichtet zum Erkennen von in mindestens einem/einer auf einer Wand, einer Decke oder einem Boden und/oder einer Oberfläche aufgebrachten und/oder aufgestellten Code 19 enthalten Information zur Lage und/oder Begrenzung eines Bearbeitungsbereichs relativ zum Code mittels der Kamera, mindestens einer weiteren Kamera und/oder der Laserentfernungsmesser und Festlegung eines, insbesondere einer Vielzahl, von Bearbeitungsbereichen auf Basis mindestens eines erkannten Codes und darin enthaltenen Information zur Lage und/oder Begrenzung des Bearbeitungsbereichs und insbesondere einer Eingabe der Form, Höhe und/oder Länge mindestens eines Bearbeitungsbereichs, wobei die Position des Codes in einem Referenzsystem, insbesondere ausschließlich, mittels der Bilddaten der Kamera und/oder der weiteren Kamera, Positionsdaten des Hebetischs und des Roboterarm sowie Messungen der mindestens zwei Laserentfernungsmessern erfolgt. Roboter nach einem der vorstehenden Ansprüche eingerichtet zum automatischen Bearbeiten, insbesondere Schleifen und/oder Sprühen, eines Bearbeitungsbereichs, insbesondere einer Mehrzahl von Bearbeitungsbereichen einer Oberfläche, insbesondere Wand, einer Decke und/oder eines Bodens. Roboter nach einem der vorstehenden Ansprüche eingerichtet zum automatischen Beenden der Aktivität, des Bearbeitens, insbesondere Schleifens und/oder Sprühens, bei und/oder korrespondierend zu der Erkennung eines Stoppcodes in einem Code, insbesondere mittels der Laserscanner und/oder Ultraschallsensoren und/oder einer und/oder weiterer Kameras. Roboter nach einem der vorstehenden Ansprüche eingerichtet zum automatischen Beginn einer Aktivität, insbesondere einer Bearbeitung, insbesondere des Schleifens und/oder Sprühens, bei der Erkennung eines Startcodes in einem Code, insbesondere mittels der Laserscanner und/oder Ultraschallsensoren und/oder einer und/oder mehrerer Kameras, insbesondere eines vordefinierten relativ zur Position des Codes und/oder absolut definierten, insbesondere vordefinierten, Bearbeitungsbereichs. 20 Roboter nach einem der vorstehenden Ansprüche eingerichtet zur Entgegennahme einer Eingabe bezüglich der Form, Länge und/oder Höher eines Bearbeitungsbereichs, sowie insbesondere zur Anzeige der Eingabe. Roboter nach einem der vorstehenden Ansprüche, wobei Roboter eingerichtet ist, den Hebetisch mittels eines Seilzuges in der Höhe zu verfahren und insbesondere den Seilzug mittels Softwaresteuerung und/oder eines Motors zu bewegen. Roboter nach einem der vorstehenden Ansprüche eingerichtet, mehrere Sicherheitsbereiche um den Roboter, insbesondere mittels der Laserentfernungsmesser und/oder Ultraschallsensoren, zu überwachen und das Vorhandensein von Objekten, insbesondere Menschen, in den Sicherheitsbereichen zu erkennen, wobei die Sicherheitsbereich so angeordnet sind, das mindestens ein erster Sicherheitsbereich einen zweiten Sicherheitsbereich vollständig oder teilweise umgibt und wobei der Roboter eingereicht ist, auf das Vorhandensein von Objekten, insbesondere Menschen, in den verschiedenen Sicherheitsbereichen unterschiedlich zu reagieren, wobei bei Objekten, insbesondere Menschen, in einem der Sicherheitsbereiche ein, insbesondere sofortiges, Abschalten und/oder Stillstehen des Roboters bewirkt wird und in einem anderen Sicherheitsbereich kein Abschalten und kein Stillstehen bewirkt wird, sondern eine, insbesondere akustische und/oder optische, Warnung durch den Roboter erfolgt. System aufweisend einen Roboter nach einem der vorstehenden Ansprüche, mindestens eine Kamera und/oder mindestens ein Werkzeug, insbesondere eine Sprühpistole und/oder eine Schleifmaschine, insbesondere aufgenommen in der Aufnahme des Roboterarms. System aufweisend einen Roboter nach einem der vorstehenden Ansprüche 1 bis 12, mindestens eine Kamera und mindestens ein Werkzeug, insbesondere 21 mindestens eine Sprühpistole und/oder eine Schleifmaschine, insbesondere aufgenommen in der Aufnahme des Roboterarms, sowie eine Mehrzahl von Codes, insbesondere zumindest teilweise aufweisend einen Start- und/oder Stoppcode, zur Anbringung an einer Oberfläche und/oder Aufstellen. Verfahren zur Bearbeitung einer Oberfläche, insbesondere von Wänden, Decken und/oder Böden, insbesondere eines Innenraumes, mittels eines Roboters nach einem der voranstehenden Ansprüche 1 bis 12, wobei eine horizontale Ebene 360° um den Roboter herum erfasst und insbesondere vermessen wird und dabei Objekte in der Ebene erfasst und insbesondere vermessen werden, wobei zur Bearbeitung der Oberfläche wahlweise mindestens ein Werkzeug in der Aufnahme des Roboterarms aufgenommen wird, und gegebenenfalls mittels an der Oberfläche angebrachte, befestigte und/oder aufgestellte Markierungen, insbesondere Codes, ein durch das aufgenommene Werkzeuge zu bearbeitender Bearbeitungsbereich festgelegt werden, wobei mittels der aufgenommenen Werkzeugs die Bearbeitung der Oberfläche, insbesondere der Bearbeitungsbereiche, erfolgt. 2. Robot according to claim 1, wherein the chassis has at least, in particular exactly, two driven wheels, which are each driven to rotate about an axis of rotation and are designed to be driven to swivel, in particular rotate, about a steering axis and in particular are diametrically opposite one another on a first and a second corner on the chassis, and at least one, in particular two, traveling wheels, which are each pivotable about a steering axis, in particular freely rotatable and in particular arranged diametrically opposite one another at a third and a fourth corner on the chassis. Robot according to one of the preceding claims, wherein the lifting system, in particular a first lifting system, is set up to move a lifting part relative to the chassis, in particular vertically, and the lifting system, in particular a second lifting system, is set up to move the robot arm relative to the lifting part, in particular vertically procedure. Robot according to one of the preceding claims, wherein the robot has a manual, in particular local, control device or is coupled to such a control device, in particular directly, and wherein the robot is set up to drive and steer the robot and to move a camera recorded in the receptacle by raising and lowering the lifting table and controlling the robotic arm, driving and steering and moving is carried out using the manual control. Robot according to one of the preceding claims set up to recognize markings applied and/or set up on surfaces, in particular at least one wall, a ceiling or a floor, in particular codes, by means of the camera, at least one further camera and/or the laser range finder and/or Ultrasonic sensors and for defining one, in particular a large number, of processing areas on the surface based on at least one recognized code and in particular an input of the shape, height and/or length of at least one processing area, the position of the at least one code in a reference system, in particular exclusively , Using the image data of the camera and / or the other camera, position data of the lifting table and the robot arm and measurements of the at least two laser rangefinders. Robot according to one of the preceding claims, arranged to recognize in at least one code applied and/or set up on a wall, a ceiling or a floor and/or a surface 19 contain information on the position and/or delimitation of a processing area relative to the code using the camera, at least one additional camera and/or the laser range finder and definition of one, in particular a large number of processing areas on the basis of at least one recognized code and information contained therein on the position and /or Limitation of the processing area and in particular an input of the shape, height and/or length of at least one processing area, the position of the code in a reference system being determined, in particular exclusively, by means of the image data of the camera and/or the additional camera, position data of the lifting table and of the Robot arm and measurements of at least two laser rangefinders. Robot according to one of the preceding claims set up for automatic processing, in particular grinding and/or spraying, of a processing area, in particular a plurality of processing areas of a surface, in particular a wall, a ceiling and/or a floor. Robot according to one of the preceding claims set up for automatically ending the activity, the processing, in particular grinding and/or spraying, upon and/or corresponding to the detection of a stop code in a code, in particular by means of the laser scanner and/or ultrasonic sensors and/or one and /or other cameras. Robot according to one of the preceding claims set up for the automatic start of an activity, in particular a processing, in particular grinding and/or spraying, upon recognition of a start code in a code, in particular by means of the laser scanner and/or ultrasonic sensors and/or one and/or more Cameras, in particular a predefined relative to the position of the code and/or absolutely defined, in particular predefined, processing area. 20 Robot according to one of the preceding claims set up to receive an input regarding the shape, length and/or height of a processing area, and in particular to display the input. Robot according to one of the preceding claims, wherein the robot is set up to move the height of the lifting table by means of a cable and in particular to move the cable by means of software control and/or a motor. Robot according to one of the preceding claims set up to monitor several security areas around the robot, in particular by means of the laser range finder and/or ultrasonic sensors, and to detect the presence of objects, in particular people, in the security areas, the security areas being arranged in such a way that at least one first security area completely or partially surrounds a second security area and the robot is designed to react differently to the presence of objects, in particular people, in the various security areas, with objects, in particular people, in one of the security areas being switched off, in particular immediately and/or the robot is brought to a standstill and no shutdown or standstill is caused in another safety area, but rather an, in particular acoustic and/or visual, warning is given by the robot. System comprising a robot according to one of the preceding claims, at least one camera and/or at least one tool, in particular a spray gun and/or a grinding machine, in particular accommodated in the receptacle of the robot arm. System comprising a robot according to any one of the preceding claims 1 to 12, at least one camera and at least one tool, in particular 21 at least one spray gun and/or one grinding machine, in particular accommodated in the receptacle of the robot arm, and a plurality of codes, in particular at least partially having a start and/or stop code, for attachment to a surface and/or setting up. Method for processing a surface, in particular walls, ceilings and/or floors, in particular an interior space, using a robot according to any one of the preceding claims 1 to 12, wherein a horizontal plane 360° around the robot is detected and in particular measured and objects in the plane and, in particular, measured, with at least one tool optionally being held in the receptacle of the robot arm for processing the surface, and, if necessary, by means of markings applied, attached and/or set up on the surface, in particular codes, a through the held tools to processing area to be processed can be defined, with the processing of the surface, in particular the processing areas, being carried out by means of the recorded tool.
PCT/EP2023/053325 2022-02-15 2023-02-10 Robot for easy processing of surfaces, more particularly walls and ceilings WO2023073251A2 (en)

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