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WO2025223965A1 - Dispositif d'interface, système robotique de site de construction, outil électrique et procédé de fonctionnement d'un dispositif d'interface - Google Patents

Dispositif d'interface, système robotique de site de construction, outil électrique et procédé de fonctionnement d'un dispositif d'interface

Info

Publication number
WO2025223965A1
WO2025223965A1 PCT/EP2025/060516 EP2025060516W WO2025223965A1 WO 2025223965 A1 WO2025223965 A1 WO 2025223965A1 EP 2025060516 W EP2025060516 W EP 2025060516W WO 2025223965 A1 WO2025223965 A1 WO 2025223965A1
Authority
WO
WIPO (PCT)
Prior art keywords
power tool
unit
construction site
cutting device
designed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/060516
Other languages
German (de)
English (en)
Inventor
Andre Heiser
Martin Dieterle
Patrick Heinen
Jens SCHOCH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2025223965A1 publication Critical patent/WO2025223965A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40032—Details regarding a bus interface enhancer

Definitions

  • Cutting device construction site robot system, power tool and method for operating a cutting device
  • a robot has already been proposed which has a control unit that generates control signals for direct, and in particular unaltered, transmission to a tool of the robot.
  • a cutting device is proposed for a communication link between a construction site robot device and a power tool unit, or at least for automated control of the power tool unit.
  • the interface allows for a particularly flexible communication link, enabling a particularly simple changeover between communication partners, especially the construction robot or the power tool unit.
  • the construction robot and/or the power tool unit can be designed advantageously using commercially available components and/or each be configured for different communication methods, such as commercially available ones, particularly according to different communication protocols, which can be advantageously bridged by the interface. This can advantageously reduce development effort and, in particular, increase efficiency, especially by configuring the construction robot and the power tool unit for a communication method that is already established and/or particularly advantageous for their respective functions.
  • a "communication link” is understood to mean, in particular, a link for the transmission of at least one electrical and/or electronic signal, especially for the transmission of at least one control signal and/or at least one piece of information.
  • the automated control of the electric machine unit is, in particular, automated control of the electric machine unit by means of the construction site robot device.
  • the communication link is preferably provided for the transmission of the at least one control signal to the automated control of the power tool unit.
  • the communication link is preferably provided for the transmission of analog and/or digital signals.
  • the cutting device is interposed between the construction site robot device and the power tool unit in a communication chain for the purpose of establishing the communication link.
  • the cutting device is, in particular, designed as a communication bridge, for example, as a gateway, for communication between the construction site robot device and the power tool unit.
  • the construction site robot device and the power tool unit are preferably designed to communicate with each other only via the communication link, in particular only via the cutting device.
  • the communication link between the construction site robot device and the power tool unit is preferably at least partially bidirectional. Alternatively, the communication link could be unidirectional, for example, for signal transmission from the construction robot unit to the power tool unit.
  • the cutting device is preferably designed as an electronic unit.
  • the cutting device comprises a circuit board unit, in particular a printed circuit board with electronic components and connecting elements mounted on the circuit board, and in particular a mounting housing for the circuit board unit.
  • the interface device in particular at least the circuit board unit, has dimensions such that the installation of a power tool unit is possible.
  • the cutting device in particular at least the circuit board unit, preferably has a length and/or width of a maximum of 15 cm, more preferably a maximum of 10 cm, more preferably a maximum of 7 cm, and most advantageously a maximum of 5 cm and/or a minimum of 1 cm, preferably of The minimum dimension is 3 cm, and particularly preferably 4 cm.
  • the cutting device, and in particular at least the circuit board unit may have a length of 5 cm and/or a width of 4 cm.
  • other dimensions of the cutting device that appear reasonable to a person skilled in the art are conceivable.
  • the construction site robot device is preferably designed as at least a part, in particular as at least one sub-assembly, of the construction site robot.
  • the construction site robot device preferably includes at least one control unit, in particular of the construction site robot.
  • a "control unit” is understood to mean, in particular, a unit with at least one control electronics unit.
  • a “control electronics unit” is understood to mean, in particular, a unit with a computing unit, in particular a processor unit, and with a memory unit, as well as with an operating program stored in the memory unit.
  • the control unit of the construction site robot device is preferably designed to generate at least one signal, in particular the at least one control signal, for transmission to the power tool unit via the communication link.
  • the construction site robot device is preferably designed as the construction site robot itself.
  • the construction site robot includes the cutting device at least partially, in particular completely, wherein the construction site robot device is designed, for example, as a remnant of the construction site robot free of at least part of the interface device of the construction site robot.
  • the construction site device is designed as the control unit of the construction site robot.
  • the power tool unit is preferably designed at least as a part, and in particular as at least one subassembly, of a power tool.
  • the power tool unit preferably includes at least one control unit, preferably a microcontroller, of the power tool.
  • the power tool is designed to be portable, and in particular, manually transportable, especially in a state unconnected to the construction robot and outside of an operating state.
  • the power tool is preferably based on a hand-held power tool.
  • the power tool is preferably designed as a,
  • the power tool unit, in particular the at least partially modified handheld power tool is preferably designed and manufactured specifically for interaction with the construction site robot and/or the cutting device, and is preferably modified and, for example, free of a handle and/or an HMI (Human Machine Interface) for displaying diagnostics and/or operating elements of the handheld power tool.
  • the control unit of the power tool can be designed as a control unit of a handheld power tool.
  • the power tool has at least one electric motor, for example, of a handheld power tool.
  • the control unit of the power tool unit is preferably designed as an electric motor control unit.
  • the power tool preferably has a housing, which can be at least partially designed as a housing of a handheld power tool.
  • the power tool is preferably intended for machining at least one object to be machined on the construction site.
  • the power tool preferably has at least one tool, for example, of a handheld power tool.
  • the tool is particularly preferably designed as a drill or impact drill.
  • the power tool is preferably designed as a drill and particularly preferably as a rotary hammer.
  • the power tool is designed as a screwdriver, a jigsaw, an angle grinder, a circular saw, a demolition hammer, a nail gun, a grinder, an angle grinder, a dust extractor, or as another power tool that would be suitable to a person skilled in the art, in particular based on a hand-held power tool.
  • the tool can be designed as a squeegee, a grinding wheel, a saw blade, a hammer, or as another tool that would be suitable to a person skilled in the art.
  • the cutting device is preferably at least partially, and in particular completely, part of the power tool and, for example, at least partially, and preferably completely, arranged within the housing of the power tool, wherein the power tool unit is designed, for example, as a remainder of the power tool free of at least part of the cutting device of the power tool.
  • the Power tool unit as the power tool machine which is designed in particular to be free of the cutting part device.
  • the construction site robot device, the cutting device, and the power tool unit are preferably at least part of a construction site robot system.
  • the construction site robot system preferably comprises the construction site robot and/or the power tool.
  • the cutting device can, in particular, be part of the construction site robot and/or the power tool and/or be designed separately from the construction site robot and/or the power tool and, in particular, be connected to them.
  • the construction site robot system is preferably designed as a processing system for performing at least one processing operation on a construction site.
  • a "construction site” is understood to mean, in particular, a location and/or environment where a construction project is carried out.
  • the construction robot may have a maximum height of up to or more than 2.5 m in another operating state, for example, for performing ceiling work.
  • the construction robot and in particular the construction robot system, has a mass of less than 3000 kg, more preferably less than 2000 kg, and in particular less than 1500 kg.
  • the construction robot system is configured as a drilling robot system.
  • the construction robot system could be configured as a different type of construction robot system, for example, as a sawing robot system, a grinding robot system, a robot system for driving in supports, or the like.
  • the construction site robot system is a combination of these components or another construction site robot system that appears suitable to a person skilled in the art.
  • the construction site robot has at least one, and preferably exactly one, manipulator unit.
  • the manipulator unit is preferably designed for moving, aligning, supporting, handling, and/or manipulating the power tool.
  • the construction site robot system preferably has a processing unit for processing the object to be processed, which includes the power tool and the manipulator unit or is formed by them, particularly in a connected state of the construction site robot device and the power tool unit.
  • the manipulator unit is preferably designed to provide at least partial processing force, in particular to the processing unit, for the processing.
  • the manipulator unit is designed to provide a feed force, in particular to the power tool, for the processing.
  • the manipulator unit preferably has a robot arm and/or a lifting platform and preferably has one to seven axes.
  • the manipulator unit can be designed as the robot arm.
  • the manipulator unit has more than one degree of freedom for moving the power tool, particularly relative to a propulsion unit mentioned below.
  • the manipulator unit is preferably designed as a multi-axis kinematic unit. Alternatively, it is conceivable that the manipulator unit has only one degree of freedom for moving the power tool, particularly in a feed direction.
  • the power tool can, in particular, be designed as an end effector on the manipulator unit.
  • the power tool is preferably arranged on the manipulator unit, particularly at a free end of the manipulator unit, and connected to it.
  • the power tool can be attached to the construction site robot and/or is, in particular at least in the connected state, attached.
  • the construction site robot in particular the construction site robot device, preferably has at least one energy storage device, in particular for supplying the construction site robot and/or the power tool unit.
  • the power tool in particular the power tool unit, can preferably be supplied with energy, in particular electrically, by means of the construction site robot, in particular by means of the construction site device.
  • the cutting device is designed to transmit a supply current from the construction site equipment to the power tool unit.
  • the connection for transmitting the supply current is designed independently of the cutting device.
  • the power tool, in particular the power tool unit has an energy storage device for at least partial self-sufficiency.
  • the construction site robot system in particular the construction site robot, is preferably designed as a mobile construction site robot system, in particular as a mobile construction site robot.
  • the construction site robot system in particular the construction site robot, is preferably designed differently from a stationary construction site robot system, in particular a construction site robot.
  • the construction site robot system in particular the construction site robot, is designed differently from a robot fixed in one position, in particular different from an industrial robot system, in particular an industrial robot.
  • the construction site robot system, in particular the construction site robot is designed to move autonomously, in particular according to a work plan.
  • the construction site robot system, in particular the construction site robot can be designed for movement that is at least partially remotely controlled and/or manually driven.
  • the construction site robot system in particular the construction site robot, is designed to move, in particular to move autonomously.
  • the construction site robot system in particular the construction site robot, is capable of walking, in particular as a walking robot, and/or flying, in particular as a drone, and/or amphibious, in particular as a floating vehicle, and/or is designed for another mode of locomotion that would appear useful to a person skilled in the art.
  • the construction site robot system in particular the construction site robot, preferably has at least one locomotion unit, in particular an autonomously moving one.
  • the locomotion unit has, in particular, a chassis.
  • the locomotion unit in particular the chassis, has, for example, a track unit, a roller unit, a wheel unit, a propeller unit, a turbine unit, or other means of locomotion that would appear useful to a person skilled in the art, or a combination thereof.
  • the locomotion unit is Preferably, the movement unit is provided for moving the processing unit, particularly relative to the object being processed and/or on the construction site.
  • the movement unit is specifically designed to move the processing unit on a surface, such as a floor, wall, and/or ceiling.
  • the movement unit is preferably designed to move the construction site robot system, particularly the construction site robot as a whole, across the surface.
  • the manipulator unit, particularly the processing unit at least in the connected state, is preferably arranged on the movement unit.
  • the manipulator unit is preferably rigidly connected to the movement unit and, in particular, is arranged at least partially above the movement unit.
  • a connection point between the manipulator unit and the movement unit is located on the upper side of the movement unit.
  • the power tool unit is preferably attached and/or attachable to a side of the manipulator unit opposite the movement unit.
  • intended means specifically programmed, designed, and/or equipped.
  • the fact that an object is intended for a specific function means that the object fulfills and/or executes this specific function in at least one application and/or operating state.
  • the cutting device include a processing unit designed to adapt the communication method to the control of the power tool unit depending on the power tool unit, in particular to a communication method compatible with the power tool unit.
  • the communication method of the construction robot device can be adapted with particular flexibility to the communication method of the power tool unit, especially to any configured power tool unit.
  • the computational effort, particularly for generating a signal corresponding to the communication method of the power tool unit can be reduced or avoided in the construction robot device, whereby the construction robot device is designed to be particularly simple to communicate using a consistently identical communication method.
  • the cutting device, in particular the processing unit The device is preferably designed to convert the communication mode between the construction site robot and the power tool unit to establish the communication link.
  • the cutting device includes a storage unit for at least one algorithm for adapting the communication mode by means of the processing unit.
  • the cutting device in particular the processing unit, is preferably designed to receive at least one first signal from the construction site robot according to the communication mode of the construction site robot and to output at least one second signal based on the first signal according to the communication mode of the power tool unit.
  • the communication link be provided via a cable.
  • the communication link is preferably at least partially, and in particular entirely, provided via a cable.
  • the communication link can provide particularly efficient, reliable, and/or secure signal transmission.
  • the communication link is preferably located entirely on the construction site robot, the power tool, and/or the cutting device and is designed to be free of communication with an external system.
  • the cutting device in particular the circuit board unit, preferably has connecting elements, for example, pins and/or plug connectors, for the connection, in particular a cable, to the construction site robot and/or the power tool unit.
  • the communication link can be designed to be at least partially separable, in particular non-destructively separable, for example, without tools, and/or at least partially permanent, in particular non-destructively separable, for example, without tools.
  • a connection between the cutting device and the power tool unit can be permanent, and in particular a connection between the cutting device and the construction site robot can be separable.
  • the hardware of the interface device for establishing the communication connection is dockable to and/or undockable from the construction site robot device and/or the power tool unit, in particular automatically and/or guidedly.
  • the communication link can be at least partially wireless, for example via Bluetooth, WLAN, ZigBee, Matter, or similar technologies.
  • the cutting device and the construction robot device and/or the power tool unit are designed for wireless communication with each other. It would also be conceivable that the cutting device, for example, the computing unit, is located and configured, at least partially, externally from the construction robot and the power tool, for example, in a cloud unit, particularly when connected.
  • the cutting device has a construction site robot interface, which is configured as a fieldbus interface, in particular as a serial fieldbus interface.
  • the construction site robot interface is preferably designed to establish a connection, particularly at least a data connection, between the construction site robot, in particular at least the control unit, and the cutting device, in particular at least the computing unit.
  • the construction site robot interface is preferably configured as an automation device interface.
  • the required amount of data for transmitting control signals and/or sensor signals between the construction site robot and the cutting device can be transmitted particularly efficiently.
  • the security, in particular cybersecurity, of the connection between the construction site robot and the cutting device can be increased and/or a particularly reliable connection performance can be provided.
  • the cutting device in particular the construction site robot interface, is designed for bidirectional communication with the construction site robot.
  • the construction site robot interface is preferably configured as a two-wire interface.
  • the construction site robot device interface can be provided for a connection between the construction site robot device and the cutting device with any number of wires that appear sensible to a person skilled in the art.
  • the construction site robot device interface can be designed as a three-wire interface.
  • the construction site robot device interface is preferably designed to receive a supply voltage. especially starting from the construction site robot device, intended for operation of the cutting parts device.
  • the construction site robot device interface has an industrial Ethernet interface and/or a wireless interface, or is designed as such.
  • the construction robot device interface be provided for CAN (Controller Area Network) communication, in particular CANopen or SAE J1939 communication.
  • CAN Controller Area Network
  • SAE J1939 communication allows for particularly fast communication between the construction robot device and its interface, thereby reducing communication errors.
  • the cutting device in particular its interface, is preferably designed for communication with the construction robot device according to a CAN communication protocol, preferably CANopen.
  • the CAN communication differs from CANopen communication, in particular that it uses a communication protocol different from the CANopen communication protocol.
  • the CAN communication could be implemented as DeviceNet communication, SAE J1939 communication, or another CAN communication protocol that would be considered appropriate by a person skilled in the art.
  • the construction site robot device interface is designed to connect to a bus system different from CAN that would be considered appropriate by a person skilled in the art, in particular a fieldbus system such as Modbus, Profinet, or EtherCAT.
  • the cutting device has a power tool unit interface, which is designed for connection with a control unit internal to the power tool unit, particularly the one mentioned above.
  • the cutting device can be connected by means of the The power tool unit interface transmits signals to and/or exchanges them with the power tool unit in a particularly efficient manner.
  • the power tool unit interface is preferably designed to establish a connection, particularly at least for data transmission, between the power tool unit, especially at least the control unit, and the interface device, especially at least the processing unit.
  • the interface device, especially the power tool unit interface is designed, at least partially, for bidirectional communication with the power tool unit, especially the control unit.
  • the power tool unit interface preferably includes at least one connection element for a cable, especially a ribbon cable, for a wired connection to the power tool unit.
  • the power tool unit interface be provided for internal communication, particularly with the power tool unit.
  • This internal communication is specifically designed as internal communication within the power tool and/or corresponds to the internal communication method of the power tool.
  • the internal communication is preferably designed in accordance with the internal communication of a standard hand-held power tool.
  • the communication link can be particularly well adapted to the power tool unit and/or provided with particular efficiency.
  • the power tool unit interface is provided for communication at least via a smart tool bus.
  • the power tool unit interface is preferably provided for at least UART (Universal Asynchronous Receiver Transmitter) communication, particularly for the transmission of digital signals.
  • the power tool unit interface has at least one UART interface.
  • the power tool unit interface in particular the UART interface, is preferably designed for the transmission of sensor data and/or status messages and/or error messages.
  • the UART communication is preferably designed as bidirectional communication. Alternatively or additionally, other communication methods and, in particular, communication protocols that appear useful to the expert are used for communication. between the cutting device, in particular the power tool unit interface, and the power tool unit, is conceivable.
  • the power tool unit interface be designed to transmit at least one, in particular an emulated, switch signal and/or safety signal.
  • the cutting device in particular the power tool unit interface, is preferably designed to emulate signals from the, in particular remote, HMI and/or the, in particular remote, operating elements of the, preferably modified, hand-held power tool.
  • the cutting device is preferably designed to assume a position of the remote HMI and/or operating elements with respect to a bus address and/or a communication protocol in communication with the power tool unit.
  • the power tool unit can be controlled, particularly advantageously, by means of the device's internal communication, in particular according to the device's internal communication of a hand-held power tool.
  • the cutting device can advantageously control the power electronics of the power tool.
  • the power tool unit interface is preferably designed to transmit at least one switch signal and/or safety signal based on a signal received, in particular at the construction robot device interface, originating from the construction robot device.
  • the power tool unit interface is specifically designed for unidirectional communication for transmitting the at least one switch signal and/or safety signal.
  • the cutting device in particular the power tool unit interface, is designed to control the power electronics of the machine tool, in particular the power tool unit, preferably at least by means of the at least one switch signal and/or safety signal.
  • the power tool unit interface preferably has at least one hardware interface, in particular for transmitting the at least one switch signal and/or safety signal, which, for example, has potential-free contacts.
  • the power tool unit interface has at least one analog output, in particular for transmitting the at least one switch signal and/or safety signal.
  • the switch signal is preferably used to switch a functional unit, in particular the The interface device is provided for the electric motor of the power tool. It is preferably designed, at least partially, as a switching assembly.
  • the switch signal, particularly for switching on the functional unit includes at least one piece of information regarding the operation of the functional unit, for example, regarding speed and/or direction of rotation.
  • the safety signal is preferably provided for enabling and/or disabling operation of the functional unit.
  • the safety signal is preferably designed as an emulation of an enable signal and/or disable signal, particularly from a commercially available hand-held power tool, regarding the status of an energy storage device, particularly one located remotely from the power tool in the power tool unit, that supplies the functional unit.
  • An enable signal from a commercially available hand-held power tool is particularly dependent on a determined temperature of the energy storage device and a determined compatibility of the energy storage device, particularly a battery and/or accumulator inserted in the hand-held power tool, with the power tool. This advantageously prevents dangerous operation of the functional unit in the event of overheating and/or incompatibility of the energy storage device.
  • the construction site robot which supplies the power tool unit in particular with electricity, is preferably designed to implement an internal test procedure regarding the status of the energy storage of the construction site robot, whereby the safety signal at the cutting device can be emulated in a safe manner, in particular without taking into account the actual status of an energy storage device supplying the functional unit.
  • the cutting device includes a sensor unit, which in particular comprises at least one accelerometer.
  • the operation of the construction site robot system, especially the power tool can be monitored by means of the sensor unit and, in particular, adapted and improved depending on data from the sensor unit, and/or at least information regarding the operation can be output, for example, to an operator.
  • the sensor unit of the cutting device in particular at least the accelerometer, is preferably at least partially integrated into the power tool, in particular in
  • the accelerometer is arranged in the housing of the power tool. It is preferably designed to detect acceleration, particularly vibration, of the power tool during machining.
  • the sensor unit of the cutting device, and in particular at least the accelerometer is arranged at least partially on the circuit board of the circuit board unit.
  • the sensor unit of the cutting device and in particular at least the accelerometer, is arranged at least partially spaced away from the circuit board.
  • the sensor unit of the cutting device is preferably connected to the processing unit of the cutting device, particularly at least via data transmission.
  • the sensor unit of the cutting device is preferably connected to the processing unit of the cutting device by means of an FC bus.
  • another connection between the sensor unit of the cutting device and the processing unit of the cutting device that would appear sensible to a person skilled in the art would be conceivable, for example, by means of a data bus configured differently from an FC bus.
  • the processing unit of the cutting device and the sensor unit are preferably configured for unidirectional communication with each other, with the sensor unit being specifically designed for transmitting data from the sensor unit to the processing unit of the cutting device.
  • the accelerometer is configured as a 3D accelerometer.
  • the sensor unit may, in particular in addition to or as an alternative to the accelerometer, include other sensors that would be useful to a person skilled in the art, for example, at least one temperature sensor or the like, for monitoring the processing.
  • a “sensor unit” is understood to mean, in particular, a unit designed to record at least one characteristic parameter and/or a physical property, whereby the recording can be active, such as by generating and transmitting an electrical measurement signal, and/or passive, such as by detecting changes in the properties of a sensor component.
  • Various sensor units that would be useful to a person skilled in the art are conceivable.
  • the cutting device include a computing unit, in particular the one mentioned above, which is designed to The construction robot device is designed to transmit the aforementioned data from the sensor unit, particularly the cutting device, to the construction robot device.
  • the construction robot, and in particular the construction robot device is preferably designed as an automation device.
  • the cutting device includes a processing unit, particularly the one mentioned above, which is designed to transmit data from a sensor unit of the power tool unit to the construction robot device.
  • the construction robot device and in particular the control unit, is designed to evaluate the data from the sensor unit, in particular at least from the cutting device and/or the power tool unit, and to adjust at least one control parameter, for example, for controlling the power tool unit and/or the manipulator unit and/or the machining unit, based on the data from the sensor unit.
  • the evaluation of the data from the sensor unit, in particular at least from the cutting device and/or the power tool unit can be provided in the construction robot device, which in particular provides increased processing power compared to the cutting device and/or the power tool unit.
  • the data from the sensor unit can be evaluated with particular precision and/or at least one control parameter can be adjusted with particular efficiency.
  • the cutting device and/or the power tool unit can be designed to be particularly cost-effective, especially with limited computing power.
  • the sensor unit of the power tool unit is preferably designed to transmit the sensor unit's data to the control unit of the power tool unit.
  • the control unit of the power tool unit is preferably designed to transmit the sensor unit's data to the processing unit of the cutting device.
  • the processing unit is specifically designed to transmit the sensor unit's data, particularly from the cutting device and/or the power tool unit, to the construction robot device via the site robot device interface.
  • the sensor unit of the power tool unit can, for example, include at least one current sensor for determining the current of the electric motor, and/or at least one impact detection sensor, and/or at least one temperature sensor, particularly for determining the temperature of the control unit.
  • the device may include the power tool unit and/or the electric motor, and/or the like.
  • the at least one temperature sensor can be used to achieve increased safety, particularly of the control unit of the power tool unit and/or the electric motor, against overheating.
  • the cutting device, especially the power tool unit interface is designed to receive data relating to specific process diagnostics and/or process-relevant parameters of the control unit of the power tool unit.
  • control unit of the construction site robot device be designed to adapt control signals, in particular the at least one control parameter, at least as a function of data from at least one sensor unit of the cutting device, in particular the one mentioned above, and/or at least one sensor unit of the power tool unit, in particular the one mentioned above.
  • control signals in particular the at least one control parameter
  • a particularly efficient adaptation of the control signals can be achieved, in particular by means of a particularly precise evaluation of the data from the at least one sensor unit.
  • the control unit of the construction site robot device can be designed to take into account data from a sensor unit of the construction site robot device when adapting the control signals, in particular the at least one control parameter.
  • the sensor unit of the construction site robot device can, for example, be designed to determine data regarding a contact force, in particular of the manipulator unit, and/or a feed rate, in particular of the power tool by means of the manipulator unit, and/or a current consumption.
  • a contact force in particular of the manipulator unit
  • a feed rate in particular of the power tool by means of the manipulator unit
  • a current consumption in particular two currents are recorded: a motor current, in particular a smoothed one, and a current consumption from the battery or from the construction site robot.
  • the control unit of the construction site robot device is used, by adjusting the control signals, in particular the at least one control parameter, preferably to adjust the speed and/or direction of rotation of the power tool, in particular the power tool, preferably via the control unit of the power tool unit, and/or to adjust the feed rate and/or the contact force on the manipulator unit.
  • the control unit of the construction site robot device may be designed to evaluate the data based on at least one standard algorithm, in particular one that differs from an AI (Artificial Intelligence) algorithm, for example, by determining at least one minimum and/or at least one maximum and/or at least one envelope of the data and/or by means of at least one Fast Fourier Transform and/or by means of another algorithm that would appear sensible to a person skilled in the art.
  • AI Artificial Intelligence
  • the control unit of the construction site robot device may be designed to evaluate the data based on at least one AI algorithm.
  • control unit of the power tool unit and/or the computing unit of the cutting device is intended to receive at least part of the data and/or to adapt at least one control parameter and/or control signal based on the data.
  • the method preferably comprises at least one process step, in particular a transmission step, in which the construction site robot transmits at least one signal, in particular a control signal and/or at least one piece of control information, to the power tool unit via the cutting device.
  • the cutting device adapts the signal for transmission, in particular in the transmission step, preferably to a communication type of the power tool unit.
  • the method comprises a further process step, in particular a detection step, in which the at least one sensor unit of the power tool unit and/or the cutting device and/or the construction site robot acquires data, in particular regarding a machining operation.
  • the detection step preferably takes place after the transmission step.
  • the data of The sensor unit transmits data, at least partially, to the construction robot device via the cutting device.
  • the cutting device adapts the data transmission, particularly in the subsequent transmission step, preferably by adapting at least one signal originating from the power tool unit and/or a signal from the cutting device to a communication method of the construction robot device. This subsequent transmission step preferably occurs after the initial detection step.
  • the method preferably includes a further process step, particularly an adaptation step, in which the construction robot device adapts the at least one control signal and/or the at least one piece of control information based on the data.
  • This adaptation step preferably occurs after the subsequent transmission step.
  • the method is preferably repeated within a processing process, particularly within the construction robot system.
  • the cutting device, the construction site robot system, the power tool, and the method for operating the cutting device are not to be limited to the application and embodiment described above.
  • the cutting device, the construction site robot system, the power tool, and the method for operating the cutting device may, to achieve a functionality described herein, have a different number of individual elements, components, units, and process steps than specified herein.
  • values within the specified limits of the value ranges stated in this disclosure are also to be considered disclosed and freely usable.
  • FIG. 1 A schematic side view of a construction site robot system with a cutting device
  • Fig. 2 shows a schematic communication overview of the construction site robot system.
  • Fig. 3 shows an enlarged view of part of the construction site robot system
  • Fig. 4 shows a flowchart of a procedure for operating the cutting tool device.
  • Figure 1 shows a schematic side view of a construction site robot system 50.
  • the construction site robot system 50 includes a construction site robot device 32.
  • the construction site robot device 32 is at least part of a construction site robot 30.
  • the construction site robot 30 is part of the construction site robot system 50.
  • the construction site robot device 32 is, by way of example, configured as the construction site robot 30.
  • the construction site robot system 50 includes a power tool unit 42.
  • the power tool unit 42 is at least part of a power tool 40.
  • the power tool 40 is part of the construction site robot system 50.
  • the power tool unit 42 is shown here, by way of example, only as part of the power tool 40.
  • the construction site robot system 50a is designed to process at least one object 52.
  • the construction robot 30, in particular the construction robot device 32 is designed to move autonomously.
  • the construction robot 30, in particular the construction robot device 32 is designed to drive autonomously.
  • the construction robot 30, in particular the construction robot device 32 has at least one propulsion unit 36.
  • the propulsion unit 36 is designed to move autonomously, in particular to drive.
  • the construction site robot 30 can be designed for a different mode of locomotion that appears sensible to the expert.
  • the movement unit 36 is designed to move a machining unit 54 relative to the object 52 to be machined.
  • the machining unit 54 is designed to perform the machining operation on the object 52.
  • the machining unit 54 includes the power tool 40.
  • the construction robot 30, in particular the construction robot device 32, has a manipulator unit 38 for moving and/or supporting the power tool 40 relative to the locomotion unit 36.
  • the machining unit 54 includes the manipulator unit 38.
  • the manipulator unit 38 is shown here as an example configured as a robot arm.
  • the manipulator unit 38 can, for example, have a lifting platform, in particular between the locomotion unit 36 and the robot arm, or be designed as such.
  • Figure 2 shows a schematic communication overview of the construction site robot system 50.
  • the construction site robot system 50 has a cutting device 10.
  • the power tool 40 has the cutting device 10.
  • the cutting device 10 is part of the construction robot 30 or is designed outside of the construction robot 30 and the power tool 40 and is connected to them.
  • the cutting device 10 is intended to provide a communication link between the construction site robot device 32 and the power tool unit 42, at least for automated control of the power tool unit 42.
  • the cutting device 10 acts as a communication bridge between the construction site robot device 32 and the power tool unit 42.
  • the construction site robot device 32 and the power tool unit 42 are designed to communicate with each other solely via the cutting device 10.
  • the construction site robot device 32 has a control unit 34.
  • the control unit 34 of the construction site robot device 32 is designed to generate at least one signal for transmission to the power tool unit 42 via the communication link to the automated control system of the power tool unit 42.
  • the power tool unit 42 includes a control unit 44.
  • the control unit 44 of the power tool unit 42 is designed to receive at least one signal transmitted via the communication link from the construction site robot device 32.
  • the control unit 44 of the power tool unit 42 is designed to control an electric motor 48 (see Figure 3) based on the received signal.
  • the cutting device 10 has a processing unit 12, which is designed to adapt a communication method to the control of the power tool unit 42 depending on the power tool unit 42.
  • the processing unit 12 is designed to adapt a communication protocol to the communication link depending on the power tool unit 42.
  • the cutting device 10 is intended for communication with the construction site robot device 32 according to a communication type of the construction site robot device 32 and for communication with the power tool unit 42 according to a communication type of the power tool unit 42 to the communication link.
  • the communication link is provided via a wired connection. In this case, the communication link is only provided via a wired connection.
  • the communication link can be provided at least partially wirelessly.
  • the cutting device 10 has a construction site robot device interface 14.
  • the construction site robot device interface 14 is designed to establish a connection between the construction site robot device 32 and the cutting device 10.
  • the construction site robot device interface 14 is designed as a fieldbus interface 16.
  • the construction site robot device interface 14 is designed for bidirectional communication with the construction site robot device 32.
  • the construction site robot device interface 14 is designed for CAN communication, in particular CANopen communication.
  • the construction site robot device interface 14 is designed for CAN communication, in particular CANopen communication, with the construction site robot device 32.
  • the construction site robot device interface 14 is configured as a CAN interface, in particular as a CANopen interface.
  • the construction site robot device interface 14 is provided for a connection via another bus system, in particular a fieldbus system, which would appear sensible to a person skilled in the art.
  • the cutting device 10 has a power tool unit interface 18, which is intended for connection with the internal control unit 44 of the power tool unit 42.
  • the power tool unit interface 18 is intended for internal communication between the device and the power tool unit 42.
  • the power tool unit interface 18 is shown here as an example of at least UART communication.
  • the power tool unit- Interface 18 has at least one UART interface 24.
  • the UART communication is designed as a bidirectional communication.
  • the power tool unit interface 18 is designed to transmit at least one, in particular emulated, switch signal and/or safety signal.
  • the power tool unit interface 18 has at least one analog output 26.
  • the analog output 26 is designed to transmit the at least one switch signal and/or safety signal. Communication via the analog output 26 is unidirectional.
  • the switch signal is configured as an on/off signal.
  • the switch signal provides information regarding the controlled speed and/or direction of rotation of the electric motor 48.
  • the safety signal is configured as an enable or disable signal for operating the electric motor 48.
  • the cutting device 10 includes a display unit 28, which may have at least one light element, for example, at least one LED, preferably multi-colored LEDs.
  • the display unit 28 is designed to output a status message to an operator.
  • a housing of the cutting device 10 and/or the power tool 40 (not shown) may have at least one window (not shown) for outputting the message to the operator.
  • the processing unit 12 of the cutting device 10 is designed to control the display unit 28.
  • the power tool unit 42 at least partially includes the display unit 28.
  • the cutting device 10 has a sensor unit 20.
  • the sensor unit 20 of the cutting device 10 has at least one accelerometer 22.
  • the sensor unit 20 of the cutting device 10 is connected, by way of example, to the computing unit 12 of the interface device 10 via an FC bus.
  • the sensor unit 20 of the cutting device 10 is designed for unidirectional communication with the computing unit 12 of the cutting device 10.
  • the sensor unit 20 of the cutting device 10 is designed to transmit the data to the processing unit 12 of the cutting device 10.
  • the processing unit 12 of the cutting device 10 is designed to transmit the data from the sensor unit 20 of the cutting device 10 to the construction site robot device 32.
  • the power tool unit 42 includes a sensor unit 46.
  • the sensor unit 46 of the power tool unit 42 is designed to transmit data via the control unit 44 of the power tool unit 42 to the processing unit 12 of the cutting device 10.
  • the processing unit 12 of the cutting device 10 is designed to transmit data from the sensor unit 46 of the power tool unit 42 to the construction site robot device 32.
  • the control unit 34 of the construction site robot device 32 is designed to adapt control signals at least depending on data from at least the sensor unit 20 of the cutting part device 10 and at least the sensor unit 46 of the power tool unit 42.
  • Figure 3 shows at least part of the construction site robot system 50 with an exemplary embodiment of the power tool 40 enlarged.
  • the power tool 40 is manufactured from a modification of a hand-held power tool.
  • the power tool 40 has at least one electric motor 48.
  • the power tool 40 is, in this example, configured as a rotary hammer.
  • Figure 4 shows a flowchart of a method for operating the cutting device 10, in which the construction site robot device 32 and the power tool unit 42 are communicatively connected at least to the automated control of the power tool unit 42 via the cutting device 10.
  • the process includes a first transmission step 100, in which the
  • Control unit 34 of the construction site robot device 32 at least one signal to the The control of the power tool unit 42 is transmitted via the cutting device 10 to the power tool unit 42.
  • the cutting device 10 adapts the signal in transmission step 100 to the transmission to a communication type of the power tool unit 42.
  • investigation step 102 of the procedure the sensor unit 20 of the cutting part device and the sensor unit 46 of the power tool unit 42 determine data.
  • the procedure includes a further transmission step 104, in which the data is transmitted via the cutting device 10 to the construction site robot device 32.
  • the cutting device 10 adapts at least one data carrier signal to a communication type of the construction site robot device 32.
  • the construction site robot device 32 adapts the signal originating from the construction site robot device 32 to the control of the power tool unit 42 depending on the data.
  • step 102 of the investigation data from a sensor unit (not shown) of the construction site robot device 32 can be further determined, which can be taken into account for the adjustment in step 106. ...

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'interface (10) pour une liaison de communication entre un dispositif robotique de site de construction (32) et une unité d'outil électrique (42), au moins pour commander automatiquement l'unité d'outil électrique (42).
PCT/EP2025/060516 2024-04-26 2025-04-16 Dispositif d'interface, système robotique de site de construction, outil électrique et procédé de fonctionnement d'un dispositif d'interface Pending WO2025223965A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102024203928.4 2024-04-26
DE102024203928.4A DE102024203928A1 (de) 2024-04-26 2024-04-26 Schnittstellen-Vorrichtung, Baustellenrobotersystem, Elektrowerkzeug und Verfahren zu einem Betrieb einer Schnittstellen-Vorrichtung

Publications (1)

Publication Number Publication Date
WO2025223965A1 true WO2025223965A1 (fr) 2025-10-30

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Application Number Title Priority Date Filing Date
PCT/EP2025/060516 Pending WO2025223965A1 (fr) 2024-04-26 2025-04-16 Dispositif d'interface, système robotique de site de construction, outil électrique et procédé de fonctionnement d'un dispositif d'interface

Country Status (2)

Country Link
DE (1) DE102024203928A1 (fr)
WO (1) WO2025223965A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006040034A1 (de) * 2006-08-23 2008-03-20 Stäubli Tec-Systems GmbH Kupplungssystem
US20190248007A1 (en) * 2018-02-12 2019-08-15 Brain Corporation Autonomous multi-tasking modular robotic system
EP4316745A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Robot de construction doté d'une interface interchangeable réglable et procédé
WO2024104673A1 (fr) * 2022-11-18 2024-05-23 Robert Bosch Gmbh Dispositif d'interface, dispositif de travail autonome ou manuel et système

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012221997A1 (de) 2012-05-25 2013-11-28 Robert Bosch Gmbh Elektrowerkzeug
DE102016218543A1 (de) 2016-09-27 2018-03-29 Robert Bosch Gmbh Zusatzgehäusevorrichtung
KR20250043396A (ko) 2022-08-03 2025-03-28 힐티 악티엔게젤샤프트 건설 로봇을 통해 사용할 수 있는 원격 제어 가능한 전동 공구, 및 시스템

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006040034A1 (de) * 2006-08-23 2008-03-20 Stäubli Tec-Systems GmbH Kupplungssystem
US20190248007A1 (en) * 2018-02-12 2019-08-15 Brain Corporation Autonomous multi-tasking modular robotic system
EP4316745A1 (fr) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Robot de construction doté d'une interface interchangeable réglable et procédé
WO2024104673A1 (fr) * 2022-11-18 2024-05-23 Robert Bosch Gmbh Dispositif d'interface, dispositif de travail autonome ou manuel et système

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