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1. WO2022069241 - METHOD OF CONTROLLING A CONSTRUCTION ROBOT AND CONSTRUCTION ROBOT

Publication Number WO/2022/069241
Publication Date 07.04.2022
International Application No. PCT/EP2021/075464
International Filing Date 16.09.2021
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 11/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
CPC
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 13/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
B25J 9/1671
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1671characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
G06F 3/011
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
G06F 3/017
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
017Gesture based interaction, e.g. based on a set of recognized hand gestures
G06T 19/006
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
19Manipulating 3D models or images for computer graphics
006Mixed reality
Applicants
  • HILTI AKTIENGESELLSCHAFT [LI]/[LI]
Inventors
  • SIU DA SILVA, Mitsiu Jose
Agents
  • HILTI AKTIENGESELLSCHAFT
Priority Data
20199159.330.09.2020EP
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) METHOD OF CONTROLLING A CONSTRUCTION ROBOT AND CONSTRUCTION ROBOT
(FR) PROCÉDÉ DE COMMANDE D'UN ROBOT DE CONSTRUCTION ET ROBOT DE CONSTRUCTION
Abstract
(EN) The invention presents a particularly efficient and user-friendly method for controlling a construction robot (10) in a working area (12) of a construction site, the construction robot (10) being configured to manipulate a construction element (14) of the working area (12), wherein the method comprises the steps (110, 120, 130, 140, 150, 160, 170): detecting and determining at least one of the position, the geometry, or the orientation of the construction element (14) within the working area (12); capturing a gesture of a user of the construction robot (10); generating a mixed-reality image (24) comprising a representation (15) of the construction element (14) or at least of a part of the construction element (14) and a virtual object (34) at a virtual position within a virtual space (13), wherein the virtual space (13) corresponds to the working area (12), wherein the virtual position is chosen in dependence of the gesture; and making the construction robot (10) manipulate the construction element (14) at a position within the working area (12) depending on the virtual position of the virtual object (34) within the virtual space (13). Furthermore, the invention relates to a construction robot (10) and a use of a construction robot (10).
(FR) L'invention présente un procédé particulièrement efficace et pratique pour commander un robot de construction (10) dans une zone de travail (12) d'un site de construction, le robot de construction (10) est conçu pour manipuler un élément de construction (14) de la zone de travail (12), le procédé comprend les étapes (110, 120, 130, 140, 150, 160, 170) : la détection et la détermination d'au moins de la position, de la géométrie et/ou de l'orientation de l'élément de construction (14) à l'intérieur de la zone de travail (12) ; la capture d'un geste d'un utilisateur du robot de construction (10) ; la génération d'une image de réalité mixte (24) comprenant une représentation (15) de l'élément de construction (14) ou au moins une partie de l'élément de construction (14) et un objet virtuel (34) dans une position virtuelle à l'intérieur d'un espace virtuel (13), l'espace virtuel (13) correspond à la zone de travail (12), la position virtuelle est choisie en fonction du geste ; et la fabrication du robot de construction (10) qui manipule l'élément de construction (14) au niveau d'une position à l'intérieur de la zone de travail (12) en fonction de la position virtuelle de l'objet virtuel (34) à l'intérieur de l'espace virtuel (13). En outre, l'invention concerne un robot de construction (10) et une utilisation d'un robot de construction (10).
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