LU100513B1

LU100513B1 - Method and device for processing a three-dimensional, concrete object

Info

Publication number: LU100513B1
Application number: LU100513A
Authority: LU
Inventors: Filip Declercq
Original assignee: Declercq Stortbeton Nv
Priority date: 2016-11-07
Filing date: 2017-11-07
Publication date: 2018-11-26
Also published as: LU100513A1; BE1024215B1; BE1024215B9; NL2019862A; NL2019862B1

Abstract

In a first aspect, the present invention describes a method for processing a three-dimensional concrete object, for example for processing a concrete stairs element having granulates, comprising processing the object by means of an active processing head for that purpose provided in a holder on a robotic arm, characterized in that the processing is done by means of a true model, made up based on measured, positional information with respect to one or more reference points located on the object. In a second aspect, the invention relates to a processing device for processing a three-dimensional concrete object, comprising a robotic arm and a holder for a processing head and/or measuring head, provided at the robotic arm, characterized in that at least one measuring module is provided, suitable for measuring positional information with respect to one or more reference points located on the object to be processed.

Description

METHOD AND DEVICE FOR PROCESSING A THREE-DIMENSIONAL, CONCRETE OBJECT

TECHNICAL FIELD

The present invention relates to a method and device for processing a threedimensional concrete object.

STATE OF THE ART

Processing an object from concrete is usually labor-intensive activity, which significantly increases the cost. In addition, it is often also a dangerous activity. First of all, the danger lies in the potentially large size and mass of the object to be processed. Secondly, fast-moving machines are usually used such as milling machines and polishing machines. Exposure to the dusty environment may also be dangerous, especially for the lungs. In addition, concrete dust is alkaline, which can lead to further damage to the lungs, as well as damage to eyes and skin.

One possible solution is to perform the processing of concrete objects as much as possible by means of an automated device. Optimally, this device requires only minimal or no human intervention. For the processing of complex objects, such a device must at least have sufficient information regarding the position, orientation, shape and dimensions of the object to be processed. This is necessary for determining the required movements of the processing head during the operation. In principle, a three-dimensional model, such as a CAD drawing, suffices to display all information regarding the shape and dimensions of the object.

For custom made, (concrete) objects, such a model is often available; in fact, a model or plan was usually drawn on which the object was cast. This model is referred to as "the theoretical model" in what follows. However, a theoretical model does not take into account inaccuracies associated with the casting process, which is specific to concrete objects. In many cases, the operation must also be done very accurately, to less than one millimeter. The theoretical model is then not suitable for the correct determination of the necessary movements of the processing head.

The present invention aims at finding a solution to at least one of the abovementioned problems.

SUMMARY OF THE INVENTION

To this end, the invention provides, in a first aspect, a method of processing a threedimensional concrete object according to claim 1. The method comprises processing the object by means of an active processing head provided for that purpose in a holder to a robotic arm. In particular, the operation is done on the basis of a true model, based on measured, positional information regarding one or more reference points located on the object. By performing the operation based on the true model, the device takes into account the actual shape and dimensions of the object. This allows a more accurate operation of the object.

In a second aspect, the present invention describes a processing device for processing a three-dimensional concrete object according to claim 17. The processing device comprises a robotic arm and a holder for a processing head and/or measuring head provided with the robotic arm. In particular, at least one measurement module is provided suitable for measuring positional information with respect to one or more reference points located on the object to be processed. The device thus provides the ability to measure and charge true positional information. The advantage of this is that the device is suitable for performing a more accurate operation of the object.

DESCRIPTION OF THE FIGURES

Figure 1 shows a two-dimensional front view of an embodiment of the processing device with a robotic arm hangingly mounted on a travelling crane.

Figure 2 shows a three-dimensional perspective of an embodiment of the robotic arm with a milling head.

Figure 3a shows a three-dimensional perspective of an embodiment of the method during polishing of a concrete stairs element having granulates.

Figure 3b shows a three-dimensional perspective of an embodiment of the method during milling of a trailing element with granules.

DETAILED DESCRIPTION OF THE INVENTION

Unless otherwise defined, all terms used in the description of the invention have also technical and scientific terms, the meaning as commonly understood by those skilled in the art of the invention. For a better review of the description of the invention, the following terms are explicitly explained. "A", "the" and "it" refer in this document to both the singular and plural unless the context clearly assumes otherwise. For example, "a segment" means one or more than one segment.

When "approximately" or "round" in this document is used with measurable magnitude, parameter, duration or moment, etc., variations are meant to be +/- 20% or less, preferably +/- 10% or less, more preferably +/- 5% or less, more preferably +/- 1% or less, and even more preferably +/- 0.1% or less than and of the cited value, to the extent that such variations are applicable in the described invention. However, it should be understood that the value of the quantity using the term "about" or "round" is specifically disclosed. "Comprise", "comprising", and "comprises" and "comprised of" as used herein are synonymous with "include", "including", "includes" or "contain", "containing", "contains" and are inclusive or open-ended terms that specifies the presence of what follows e.g. component and do not exclude or preclude the presence of additional, non-recited components, features, elements, members, steps, known in the art or disclosed therein.

In a first aspect, the invention relates to a method of processing a three-dimensional concrete object. The method comprises processing the object by means of an active processing head for this purpose provided with a holder on a robotic arm. In particular, the operation is done on the basis of a true model, based on measured, positional information regarding one or more reference points located on the object. This has the advantage that the actual shape and dimensions of the object are taken into account when processing the object. In a preferred embodiment of the method, the concrete object is cast into a mold prior to processing, determined on the basis of a theoretical model for the object and followed by curing of the concrete. According to a non-limiting example, the object is cast into a shape that lends itself to the intended shape for the object after processing. The object then only requests a surface treatment, which is carried out according to the present method. According to another non-limiting example, the object is cast into a shape which, where possible, lends itself to the intended shape for the object after processing, except for the aspects difficult to cast. For example, a typically hard to cast recess or hole is only applied retrospectively according to the present method. A third, non-limiting example combines the two previous examples.

According to an alternative method, the required movements of the robotic arm are completely determined based on the theoretical model for the object. However, the actual object is often insufficiently consistent with its theoretical model. For example, in case of a concrete object, errors may occur during the casting process. Certain dimensions are too small, in the order of a millimeter, because too little concrete was used or because the lowering of the concrete when shaking was not compensated for. On the other hand, certain dimensions are too big because too much concrete was used in casting. Inaccuracies may also be due to inaccurate adjustment or fabrication of the formwork. Finally, pouring concrete is also a fairly rough process, with an accuracy of the order of millimeters. The finish of the object, however, often requires a much higher accuracy. This is especially the case for custom-made items. In a nonlimiting example, each layer should be milled off a layer of 3.75 mm to 4.25 mm. It is then necessary to set up a real plan that maps the actual objects to be processed of the object. This can be based on measured, positional information regarding one or more reference points located on the object. It is advantageous that the present method provides this.

In a first preferred embodiment of the method, the true model is made, based on the measured positional information. This does not take into account the theoretical model for the object. Preferably, the method then comprises measuring a point cloud of sufficiently high accuracy and density. This point cloud describes the position of a large number of points located on the surface of the object. The point cloud also allows reconstruction of this surface with sufficiently high accuracy. Higher accuracy can be obtained by measuring a higher density point cloud. A possible true model for the object, or for its part to be edited, is then a finite element model, based on the point cloud. In an alternative true model, the point cloud is simplified into a composition of a limited number of idealized facets which are flat and/or curved according to a cone surface, a cylinder surface and/or a spherical surface. This simplification always takes into account the required accuracy of the true model for the intended operation; Each facet has an optimal overlap with the corresponding part of the point cloud and describes that part sufficiently accurately. As set forth above, the true model according to this preferred embodiment is constructed purely based on the measured positional information. This has the advantage that this embodiment of the method can also be applied to objects for which there is no theoretical model or at least no digital version of the theoretical model which could readily be read by the processing device.

In an alternative preferred embodiment of the method, the true model is made, based on the theoretical model in combination with the measured positional information. According to a further, preferred embodiment, the true model is drawn up as refinement of the theoretical model. Pr^i^f^erably, there is a digital version of the (threedimensional) theoretical model, read in a first step by the processing device. In a second step, the position and orientation of the three-dimensional theoretical model relative to the object is determined. • A first, non-limiting way to determine this position and orientation is to measure a full point cloud located on the surface of the object and then position and orient the theoretical model so that its overlap with this point cloud is optimal is. • A second, non-limiting way to determine this position and orientation is to determine the position of at least three well-chosen reference points on the object, for which the corresponding reference points in the theoretical model are well-known. This is sufficient for determining the position and orientation of the object.

In a non-limiting preferred embodiment of the method, the theoretical model describes the surface of the object based on the composition of a limited number of idealized facets which are flat and/or curved according to a cone surface, a cylinder surface and/or a spherical surface. In that case, the true model is preferably composed of corresponding facets which position, orientation and/or curvature differs slightly from those in the theoretical model, insofar as it is necessary to optimize the overlap of the true model with the object. The facets are then tested against the point cloud describing the surface of the object and being measured beforehand. Each facet is adapted to describe the corresponding point cloud sufficiently accurately. The latter point cloud is not necessary of high density; In principle, the orientation of a flat facet can be determined by measuring only three reference points on that facet, not on the same line. Preferably, however, more than three reference points are measured, with a good spread over the facet. In this way, local aberrations are averaged, which increases the accuracy of the measurement. For curved facets, a point cloud of more than three reference points is preferably measured. In many cases, the true model should also describe the edge of the facets. For facets with straight edges and vertices, preferably at least all vertices are measured. This is sufficient for the description of an object composed of flat facets. In an alternative, non-limiting preferred embodiment of the method, the theoretical model, optimally positioned and oriented relative to the object, is used as a true model.

The operation as described in the present method usually involves removing material on the surface of the object. By way of a first, non-limiting example, the method allows to eliminate inaccuracies due to the casting process. According to another, nonlimiting example, the method is used to make the surface of the object smoother or to make it even more rough. According to a third non-limiting example, the method can be used to visualize an internal structure of the material, for example, for aesthetic reasons, by removing a layer of thickness 1 mm from the surface. The theoretical model always proposes the intended object prior to the surface processing. Preferably, the theoretical model sets the object flat after castling, prior to surface treatment, without charging the inaccuracies associated with the casting process. The theoretical model thus already takes account of the mentioned operation; Optional material may be provided at certain areas of the surface, which will be removed during the operation of the object. The true model for the object is similar to the theoretical model, in that it takes into account the removal of material on the surface. However, the true model takes into account the actual shape and dimensions of the object. Preferably, the true model thus takes into account inaccuracies due to casting process with concrete objects. This data therefore determines the specific interpretation of the "optimal overlap" between the true model and the object to be processed, which in some cases depends on the intended operation. Suppose, by way of a first, nonlimiting example, that a layer of minimum thickness d should be removed from a (theoretical) plane facet. The real facet includes local imperfections; At these locations a layer of thickness greater than d must be removed. A point cloud is measured, of sufficiently high density to adequately describe the irregularities. The corresponding facet in the true model is now determined such that the "overlap" with the point cloud is maximum. In this specific case, this means that the said facet is then parallel to the plane that best describes the point cloud. In addition, the facet includes that point, which represents the deepest local unevenness. For example, the plane describing the point cloud best is determined by the least squares method for predetermined systems of equations. The operation, as performed by the robot head, will remove all the material to a distance d under the real facet. During the operation, it is therefore taken into account that in certain places, the real object to be processed may extend beyond the real facet described above. Suppose, by way of a second, non-limiting example, that the intended operation is to remove all imperfections from the object and then polish the object. The true model comprising one or more facets is then made in the same way as above, extended to curved facets. For example, the curvature of convoluted facets is enlarged and these hollow facets are reduced, so that only the deepest imperfections are located on the surface of the true model. This is again the "model of optimal overlap" with the object. Then all the material is removed to the true model, after which the surface is polished until smooth. The amount of material removed during polishing is usually negligible.

The true model just described is always an idealization of the object, into a composition of flat facets and/or facets curved according to a cone surface, a cylinder surface and/or a spherical surface. In an alternative preferred embodiment of the method, the true model of the object is a rigorous, three-dimensional model. By way of non-limiting example, this model is a finite element model, based on a measured point cloud. The object is then processed by the Robotic arm with processing head, based on this model. In a first further preferred embodiment, the robotic arm operates to a specified three-dimensional model object after processing. In an alternate further preferred embodiment, the operation comprises removing a layer of even and specified thickness of area of the object. Instead or in addition, the surface of the object is polished smoothly.

In a preferred embodiment of the method, the positional information is measured at least in part by means of a measurement: module provided for that purpose by the robotic arm. This has the advantage that the position of the reference points can be read automatically by the processing device, without the intervention of people. In a further preferred embodiment, the reading of reference points occurs based on the theoretical model for the object. By way of non-limitative preferred embodiment, only a few well-chosen reference points are mapped, for which the position is known in the theoretical plan. The real plan is then drawn up from the theoretical plan, taking into account the actual position of the reference points.

In a further preferred embodiment of the method, the positional information is measured at least in part by means of a measurement module separate from the robotic arm. After all, the version where the robotic arm is equipped to measure both the object and the object can be possibly inefficient; At any time, only one of the two processes can continue. The use of a stand-alone read-in module has the advantage that the robotic arm can be optimally utilized for processing objects. The objects are then read in advance with a separate reading module, apart from the robotic arm. The true model of the object, as formulated by the detached measurement module, then describes the shape and dimensions of the object, and possibly its position and orientation relative to a fixed coordinate system. If the object is moved, for example to the robotic arm, only the position and orientation relative to a fixed coordinate system must be re-determined. According to a preferred embodiment, however, as described below, the robotic arm is hangingly mounted on a travelling crane and is the robotic arm that is moved toward the object, using the travelling crane. In that case, the position of the robotic arm relative to the fixed coordinate system of the object should always be known by the automated device. By way of non-limiting example, this can be done by regularly reading at least 3, well-chosen reference points on the object during the operation.

In an alternative preferred embodiment of the method, the positional information relating to one or more reference points located on the object is determined partly by means of a measurement module for that purpose to the robotic arm and partly by means of a measuring module separate from the robotic arm.

When measuring the position of a reference point, on the one hand, the position of the reference point is determined relative to the measurement module and on the other hand the position of the measurement module relative to an coordinate system is fixedly connected to the object. In this way, the position of the reference point relative to an coordinate system fixed to the object can be determined. This is of particular importance when working with a manual, mobile measurement module or with a module connected to a mobile robotic arm. When moving the object, the (imaginary) fixed coordinate system is also moved with the object. In a first non-limiting example, the automated device also knows at any time during the processing, position and orientation of the processing head relative to this fixed coordinate system. With this information, the automated device then calculates the position and orientation of the processing head relative to the object. According to another non-limiting example, the automated device calculates the position and orientation of the processing head relative to the object from the position of at least 3 selected reference points to the object, which is read regularly during the operation.

In a preferred embodiment of the method, the robotic arm is computer controlled, wherein said computer exchanges positional information with at least one measurement module. In a further preferred embodiment, the same computer is suitable for compiling the true model for the object from the measured positional information and/or the theoretical plan. The fully automated exchange and processing of data aims at avoiding human intervention as much as possible. Of course, this is advantageous, as processing of concrete objects can be dangerous. First of all, the danger lies in the potentially large size and mass of the object to be processed. Secondly, it is usually used with fast-moving machines such as milling machines and polishing machines. In addition, exposure to the dusty environment may also be dangerous, especially for the lungs. In addition, concrete is alkaline, which can lead to further damage to the lungs, as well as damage to eyes and skin.

In a further preferred embodiment, the robotic arm is computer controlled and the positional information, at least in part, is manually entered and/or adapted in said computer. It is advantageous that there is the possibiiity of manually entering and/or adjjusting measurement values. In a non-limiting example, a solid model is prepared for a milled concrete object prior to polishing. However, when milling, enclosed cavities are released on the surface. If one of the measurement points is located in such a cavity, the real plan might be very distorted, especially when working with a limited number of reference points. However, if the strong deviating value is noted, this measurement can be manually entered or modified in the computer. Before or after polishing, the holes are then filled with filler material, for example with concrete.

In a preferred embodiment of the method, at least one measurement module comprises a laser distance meter, which is based on the principle of triangulation measurement and/or travel time measurement. Preferably, a laser distance meter based on the triangle measurement principle is used to measure objects of maximum size less than 10 meters. The advantage of this type of laser distance meter is the combination of potentially very fast measurement and potentially very high accuracy; Some devices are capable of measuring more than 1000 reference points per second, with accuracy higher than 1 mm. In further preference, at least one measurement module comprises a 3D scanner comprising the laser distance meter. A 3D scanner captures the three-dimensional environment, as well as determining the distance from each point to the device. The advantage of this is that a three-dimensional point cloud is automatically obtained. In an alternative embodiment, the distance to a limited number of well-chosen reference points is measured. In a further preferred embodiment of the method, each measurement module comprises a laser distance meter and in a more preferred embodiment, each measurement module comprises a 3D scanner comprising a laser distance meter.

In a further or alternative preferred embodiment, at least one measurement module comprises one or more acoustic sensors, mechanical sensors and/or sensors of any other type suitable for measuring distances and/or positions. Among other (waterproof) mechanical sensors have the advantage over laser distance meters that they function better in damp and especially misty environments. The damp, misty environment may be due to the use of water as a cooling for the processing head during the processing of concrete objects.

In a preferred embodiment of the method, the holder includes a head exchanger and the robotic arm exchanges the active processing head or measuring head in the holder against a processing head or measuring head from a repository comprising one or more processing heads and/or measuring heads, after which the latter processing head / measuring head the new active processing head / measuring head is. Usually, the operation and/or measurement of the object includes several steps. In a nonlimiting example, the operation comprises milling the top layer of material and then smooth polishing of the milled surface. In another non-limiting example, the object is first measured by the robotic arm with active measuring head and then edited in one or more steps by the active robotic arm. In case the operation and/or measurement of the object includes multiple such steps, it is advantageous that the device switches automatically from the processing head / measuring head; in this way human intervention is minimized.

In a preferred embodiment of the method, the positional information is measured at least in part by means of a measurement module comprised by an active measuring head. This has the advantage of minimizing human intervention, especially when measurement is followed immediately by processing the object. In a further preferred embodiment, the measurement module comprises a laser distance meter and in an even more preferred embodiment, the measurement module comprises a 3D scanner comprising a laser distance meter. In a further or alternative preferred embodiment, the measurement module includes one or more acoustic sensors, mechanical sensors or sensors of any other type suitable for measuring distances and/or positions.

In a preferred embodiment of the method, the object is stationary during operation and the rotational and translational degrees of freedom of the robotic arm suffice for performing the intended operation and/or measurement of the object through the active processing head and/or measuring head. The stationary arrangement of the object is beneficial for the safety of the residents. Often it's about big and heavy objects. In addition, the risk of damage to the concrete object is greater when its position and/or orientation is changed one or more times during the operation. Consequently, it is advantageous to construct the concrete object stationary. We distinguish the rotational and translational degrees of freedom of the robotic arm. A rotational freedom of the robotic arm is preferably realized by a module which is journaled on another module, provided with an actuator, preferably a servo motor. Said actuator may be controlled from the computer such that for each degree of rotation, the rotation angle of the first module relative to the second can be adjusted and changed from the computer. A translational degree of freedom of the robotic arm is preferably realized by a module which is slidable by or along another module, provided with an actuator, preferably an electronically controlled pneumatic piston. Said actuator may be controlled from the computer such that for each translation degree of freedom of the extended length of the first module relative to the second can be adjusted and changed from the computer. Rotational and/or translational degrees of freedom can be combined. The robotic arm then consists of an attachment module and a series of one or more moving modules. The first free module of the series is either stored on the attachment module as described above, or it is slidably held by or along the attachment module again as described above. Each of the following free modules is then either stored on either slidable by or along the previous free module from the series. The holder for processing heads ern^,/or measuring heads is preferably comprised of the last module of the series, because it has the highest degree of freedom at its disposal. Preferably, the robotic arm has multiple degrees of freedom and no translational degree of freedom . For the operation of a stationary object by means of a robotic arm, it is either that the robotic arm itself is moved, or that the robotic arm is also stationary. In the second case, the rotational and translational degrees of freedom of the robotic arm should of course be sufficient for the operation of the object.

In a preferred embodiment of the method, the object is stationary disposed during the operation, the robotic arm is hangingly mounted on a travelling crane and the rotation and translational degrees of freedom of the travelling crane and robotic arm combination to perform the intended operation and/or measurement of the object through the active processing head and/or measuring head. The hangingly mounting of the robotic arm on the travelling crane has the advantage that the travelling crane provides two additional translational degrees of freedom . As a result, many larger objects can be edited than would be the case with the stationary robotic arm alone. Typically, these translational degrees of freedom describe the depth and width of the workplace. Often, a stationary robotic arm also has insufficient degrees of freedom to manipulate large objects, with typical dimensions greater than 2m. One possible solution is that the object is being processed in different phases, each phase being followed by a displacement of the object. However, this is dangerous when it comes to heavy concrete objects. In addition, there is a risk of damage to the object as a result of any displacement. This can be avoided by mounting the robotic arm on a travelling crane.

In a preferred embodiment of the method, the whole of the active processing head and the processing heads in the repository comprise at least one milling head and a polishing head. This is advantageous, as milling and polishing are among the most commonly applied to stone materials. In a further preferred embodiment, each object is first milled and then polished. In a further preferred embodiment, it is then automatically exchanged between a milling head and a polishing head. Preferably, the milling head is a steel disk, the curved side face of which is tipped and further comprises diamond particles. Multiple milling heads, with ever-increasing toothing, can be used for ever-increasing processing of the object's surface, always by pressing the curved side surface of the milling head against the object while the milling head rotates about the coordinate of the disc. Preferably, a polishing head is a circular piece of abrasive paper which abrases the surface in a rotating motion. Pollshing heads of ever finer grain can be used for ever-better processing of the surface of the object. Additionally or in addition, use is made of another type of polishing head, which preferably comprises alcantara patch disc. In further preference, they are used in combination with one or more polishing pastes which allow to abrade the surface on the one hand and, on the other hand, shine.

In a preferred embodiment of the method, the object concerns a concrete staircase or granulator trailing element, and the method comprises removing a layer of 1 to 20 mm thickness of one or more surfaces through the milling head, which during this operation is the active processing head. In further preference, a layer of 3 mm to 5 mm thickness is milled away, and even more preferably a layer of 3.75 mm to 4.25 mm thickness is milled away. The release of a layer of suitable thickness of a concrete object with granulates, for example of a concrete staircase, has the advantage that the cross-section of the granulates is visible. This has an aesthetic effect, especially if the color of the cross-sectional diameter differs from the color of the matrix. The appropriate thickness of the layer to be milled dependent on the average diameter of the granules. Preferably the thickness of the layer to be milled is chosen so that the first layer of granulates is cut more or less centrally. For granulates with an average diameter of 8 mm, preferably a layer of thickness is milled at least: 3 mm and maximum 5 mm at the surface. In further preference, a layer of thickness is minimally 3.75 mm and milled at most 4.25 mm.

In a preferred embodiment of the method, the object concerns a concrete stairs element having granulates and the method comprises polishing one or more surfaces by means of the polishing head which during the operation is the active processing head. Preferably, this polishing step is applied to a cured cast concrete object or to a milled concrete object. In further preference, the concrete object is a concrete staircase. The advantage of polishing is that the surfaces can be made much smoother. This facilitates the maintenance of the concrete staircase; in particular, it simplifies the cleaning of the stairway surface.

In a second aspect, the present invention discloses an processing device for processing a three-dimensional concrete object, for example for processing a concrete stairs element having granulates comprising a robotic arm and a holder for a processing head and/or measuring head provided with the robotic arm with characterized in that at least one measurement module is provided suitable for measuring positional information with respect to one or more reference points located on the object to be processed. This has the advantage that the device is suitable for charging the actual shape and dimensions of the object, which may deviate from the theoretical shape and dimensions. In addition, the device is also suitable for determining the position and orientation of the object to be processed.

In a preferred embodiment of the processing device, a measurement module is provided on the robotic arm. This has the advantage that the device is suitable for fully measuring the positional information so that human intervention can be minimized. In further preference, the measurement module is comprised of the latter from the series of free modules of the robotic arm, because it has the highest degree of freedom at its disposal.

In a preferred embodiment of the processing device, there is a measurement: module comprised of an exchangeable measuring head. This has the advantage that the device is suitable for fully measuring the positional information so that human intervention can be minimized. In this case, the positional information can be measured at least partially by means of an exchangeable measuring head in the holder at the robotic arm. In this way, the measuring head can be accommodated in the repository during the operation of the object. This is advantageous since the optional fragile measuring head is then not exposed to flying concrete particles, alkaline concrete mud and/or concrete dust and water.

In a preferred embodiment of the processing device, a measurement module is provided which is separate from the robotic arm. The use of a stand-alone read-in module has the advantage that the robotic arm can be optimally utilized for processing objects, which are read in advance with a separate read-in module, apart from the robotic arm.

In a preferred embodiment: of the processing device, at least one measurement module comprises a laser distance meter, which is based on the principle of triangulation measurement and/or travel time measurement. Preferably at least one measurement module comprises a laser distance meter, based on the principle of triangle measurement. The advantage of this type of laser distance meter is the combination of a potentially very fast measurement; and a potentially very high accuracy; some devices are capable of measuring more than 1000 reference points per second, with an accuracy higher than 1 mm. This, for objects with maximum dimensions not: greater than 10 meters. More preferably, at least one measurement module comprises a 3D scanner, comprising the laser distance meter. In a further preferred embodiment of the processing device, each measurement module comprises a laser distance melter and in an even more preferred embodiment, each measurement module comprises a 3D scanner, comprising a laser distance meter.

In a further or alternative preferred embodiment of the processing device, at least one measurement module comprises one or more acoustic sensors, mechanical sensors, and/or sensors of any other type, suitable for measuring distances and/or positions. Among other (waterproof) mechanical sensors have the advantage over laser distance meters that they function better in damp and especially misty/foggy environments. Walter jets are often used as cooling for the processing head, during the processing of concrete objects.

In a preferred embodiment of the processing device, the processing device moreover comprises a computer, suitable for controlling the robotic arm and for exchanging positional information with at least one measurement module. In a further preferred embodiment, that same computer is suitable for compiling the true model for the object from the measured positional information and/or the theoretical plan. The fact that the device is suitable for fully automated data exchange and processing has the advantage that human intervention can be avoided as much as possible when using the device.

In a preferred embodiment of the processing device, the robotic arm is hangingly mounted on a travelling crane and the computer is suitable for driving this travelling crane. The hangingly mounting of the robotic arm to the travelling crane has as an effect that the travelling crane provides two additional translational degrees of freedom. The advantage is that the processing device is suitable for processing much larger objects than would be the case with the aid of a stationary robotic arm alone. Typically, these translational degrees of freedom describe the depth direction and width direction of the work space. Another advantage is that an object can be measured with a module that is separate from the robotic arm, while the robotic arm is processing a second object, at another location in the work space. After processing of the second object, the robotic arm can then be brought into the vicinity of the first object in a simple manner, where it can immediately begin with the operation.

In a preferred embodiment: of the method, the device comprises a repository, comprising one or more exchangeable processing heads and/or exchangeable measuring heads and the holder includes a head exchanger suitable for interchangeably holding a processing head/measuring head, in held state called the active processing head/measuring head. Usually, the processing device will be applied for the method described above and comprises multiple processing steps and/or measuring steps. In a non-limiting example, the processing comprises the removal by milling of a top layer of material and the subsequent smooth polishing of the milled surface. In another non-limiting example, the object is first measured by the robotic arm with active measuring head and then processed in one or more steps by the robotic arm with active processing head. In case the processing and/or measurement of the object comprises multiple such steps, it is advantageous that the device is suitable for automatically changing the processing head/measuring head. In this way, human intervention is reduced to a minimum.

In a preferred embodiment of the processing device, the whole of the active processing head and the processing heads in the repository comprise at least a milling head and a polishing head. This is advantageous, as milling and polishing belong to the operations which are most commonly applied to stone materials. In a further preferred embodiment, each object is first milled by means of the milling head and then polished by means of the polishing head. The processing device is then suitable for the automatic switching between the milling head and the polishing head. Preferably, the milling head is a steel disk, of which the curved side surface is serrated and more preferably comprises diamond particles. Preferably a polishing head is a circular piece of abrasive paper, which is suitable for abrasion of the surface by means of a rotational movement around the axis of the circle. In another preferred embodiment, the polishing head is an alcantara cloth rings.

Preferably, the processing device described above is suitable for carrying out the method as described above and/or in any of claims 1 up to and including 16.

DETAILED DESCRIPTION OF THE FIGURES

The invention will now be further elucidated with reference to the following example and accompanying figures, without being limited thereto.

Figure 1 shows a two-dimensional front view of an embodiment of the processing device, with a robotic arm 5, hangingly mounted to a travelling crane 1. Preferably, the range of the travelling crane 1 covers the entire work space, or at least a part thereof. For example, the rolling bridge 1 covers a rectangular column of width of about 10 m and depth of about 40 m. For this purpose, the travelling crane 1 comprises two stationary profiles 2, a depth direction configurable profile 3 and a width direction configurable element 4. The two stationary profiles 2 are directed according to the rectangle's depth direction; they are supported by pillars and/or by the side wall of the work space and are fixed at a constant height between 2 m and 12 m above the surface of the work space, preferably between 2 m and 6 m, on both sides of the rectangle. These stationary profiles 2 are suitable for slidably supporting and/or carrying the depth direction configurable profiles 3. The depth direction configurable profile 3 is oriented according to the width of the rectangle; it is slidably supported and/or carried at both end parts by the stationary profiles 2, such that the position thereof can be slidably adjusted in the depth direction, along the stationary profiles 2. The depth direction configurable profile 3 is suitable for slidably supporting and/or carrying the width direction configurable element 4. The width direction configurable element 4 is slidably supported and/or carried by the depth direction configurable profile 3, such that its position can be slidably adjusted in the width direction, along the depth direction configurable profile 3. In this manner, the travelling crane provides two translational degrees of freedom, one in the width direction and one in the depth direction of the rectangle. By a well-chosen setting of both, the position of the width direction configurable element 4 can be realized anywhere the rectangle. The robotic arm 5 is preferably hangingly mounted to the width direction configurable element 4. By a well-chosen setting of both translational degrees of freedom, the position of the attachment module of the robotic arm 5 can be realized anywhere in the rectangle . Preferably, the travelling crane is computer-controlled so that the position of the width direction configurable element 4 along the depth direction configurable profile3, as well as the position of the depth direction configurable profile 3 along the stationary profiles 2 can be automatically adjusted from the computer.

Figure 2 shows a three-dimensional perspective of an embodiment of the robotic arm 5 with milling head 7. The robotic arm 5 has one or more rotational degrees of freedom. Preferably, the robotic arm 5 has two or more rotational degrees of freedom. The robotic arm 5, as shown in Figure 2, has 6 rotational degrees of freedom, each realized by a pivot point 6. In a preferred embodiment; of the present method, first the position of the attachment module of the robotic arm 5 is set near the object to be processed, using the translational degrees of freedom of the travelling crane 1. Then, during the processing of the object, only the angles corresponding to the rotational degrees of freedomare changed from the computer. The exchangeable processing head, in this case a milling head 7, is held exchangeably by a holder having a head exchanger 8. Furthermore, the robotic arm 5 comprises water spray nozzles 9, suitable for directing a water jet 11 to the processing head and/or the processed surface, during processing of the object. This, for the purpose of cooling the processing head and/or the processed surface. Water is supplied from a water pipe 10.

Figure 3a shows a three-dimensional perspective of an embodiment of the method, during the polishing of a concrete stairs element having granulates 12. For polishing surfaces, a modified polishing head 13 is used. During polishing, the surface and/or the processing head is moistened by waterjets 11. The water is supplied via a water pipe 10. In a preferred embodiment of the method, the concrete stairs element having granulates 12 is first milled and then polished. The milling is thereby suitable for removing a relatively thick layer of material, with a thickness of a few millimeters. In this way, a cross-section of the granulate becomes visible on the surface. Polishing is rather suitable to make the milled surface smoother and possibly to make it shine. This is beneficial for the maintenance of the stairway surface. In a preferred embodiment of the method, only the rotational degrees of freedom, corresponding to the pivot points 6, are varied during polishing of the surface.

Figure 3b shows a three-dimensional perspective of an embodiment of the method, during the milling of a concrete stairs element having granulates 12. During milling, the surface and/or the processing head is moistened via waterjets 11 from the water spray nozzles 9. The water is supplied via a water pipe 10. The milling is thereby suitable for removing a relatively thick layer of material, with a thickness of a few millimeters. In this way, a cross-section of the granulate becomes visible on the surface. In a preferred embodiment of the method, only the rotational degrees of freedom of rotation, corresponding to the pivot points 6, are varied during milling of the surface.

The numbered elements in the figures are: 1. ttaaelllng craae 2. sfct^tic^^^rr' crrfiies 3. ddpth direccîon coreigurabie croine 4. width direetion configurrble clemeen 5. robobc cam 6. Pivot points of robotic arm 7. milling head 8. holder having ahead exchanger 9. water spray nozzles 10. water pipe 11. waterjet 12. concrete stairs element having granulates 13. polishing head

Claims

A method for treating a three-dimensional concrete object, said method comprising the step of treating the object by means of an active treatment head, said treatment head being provided for this purpose in a support on a robot arm, which concrete object, before said treatment, is cast into a shape, wherein said shape is determined based on a theoretical model for the object, and wherein the treatment comprises polishing one or more surfaces and / or milling a layer 1 to 20 mm thick of one or more surfaces of the object, characterized in that said treatment is carried out based on a real model, said true model being drawn based on said theoretical model, combined with positional information measured with respect to one or more reference points located on the object. 2. The method according to claim 1, characterized in that said positional information is at least partially measured by means of a measurement module, which measuring module is, for this purpose, provided said robotic arm. 3. The method according to one of claims 1 to 2, characterized in that said positional information is at least partially measured by means of a measuring module, which measuring module is separated from said robotic arm. 4. The method according to one of the claims, characterized in that said robotic arm is computer controlled, wherein said computer exchanges positional information with at least one measuring module. The method according to one of the claims, characterized in that said robotic arm is computer controlled, wherein said positional information is introduced into and / or adapted in said computer at least partially manually. Method according to one of the preceding claims, characterized in that at least one measuring module comprises a laser distance measuring device, which laser distance measuring device is based on the principle of triangulation and / or time measurement. of displacement. 7. The method as claimed in one of the preceding claims, characterized in that said support comprises a head exchanger, and said robotic arm exchanges the active treatment head or the active measurement head, in said support, against a treatment head or a measuring head from a deposit comprising one or more treatment heads and / or measuring heads, after which said treatment head or said measuring head is the new active treatment / measurement head. 8. The method according to one of the preceding claims, characterized in that said positional information is at least partially measured by means of a measurement module, which measurement module is included in an active measuring head. 9. The method according to one of the preceding claims, characterized in that during said treatment, said object is arranged in a stationary manner, wherein the degrees of freedom of rotation and translation of said robotic arm are sufficient for carrying out the intended treatment and / or the measurement of the object by means of the treatment head and / or the active measuring head. 10. The method according to one of the preceding claims, characterized in that during said treatment, said object is stationarily arranged, wherein said robotic arm is suspended mounted to a traveling crane, and that the degrees of freedom of rotation and translation the combination of said overhead crane and said robotic arm is sufficient for carrying out the intended treatment and / or measurement of the object by means of the treatment head and / or the active measuring head. 11. The method according to one of the preceding claims, characterized in that the set of treatment heads and measuring heads in the deposit comprise at least one grinding head and a polishing head. 12. The method according to one of the preceding claims, characterized in that the object is a staircase or concrete stair elements having granules, and that said method comprises the grinding phase of a layer with a thickness of 1 to 20 mm of one or more surfaces, by means of said grinding head, which grinding head during the treatment is an active treatment head. The method according to one of the preceding claims, characterized in that the object is a concrete staircase having granules, and that said method comprises the polishing phase of one or more surfaces, by means of said polishing head, which polishing head during the treatment is an active treatment head. 14. A treatment device for the treatment of a three-dimensional concrete object, for example for the treatment of a concrete staircase having granules, said device comprising a robotic arm, and a support for a treatment head and / or a measuring head, which support is provided on said robotic arm, wherein at least one measuring module is provided, suitable for measuring positional information with respect to one or more reference points, which reference points are located on the object to be treated, and characterized in that a measuring module is provided on said robotic arm. 15. The processing device according to claim 14, characterized in that a measuring module is included in an exchangeable measuring head. 16. The treatment device according to one of claims 14 to 15, characterized in that a measuring module is provided, said measuring module is separated from said robotic arm. 17. The treatment device according to one of the preceding claims, characterized in that at least one measuring module comprises a laser distance measuring device, which laser distance measuring device is based on the principle of triangulation and / or measurement of travel time. 18. The treatment device according to one of the preceding claims, characterized in that the processing device further comprises a computer, suitable for controlling the robotic arm, and for exchanging the positional information with at least one measuring module. 19. The treatment device according to one of the preceding claims, characterized in that the robotic arm is mounted by suspension to a traveling crane, and that the computer is suitable for controlling said traveling crane. 20. The treatment device according to one of the preceding claims, characterized in that the device comprises a deposit comprising one or more exchangeable treatment heads and / or exchangeable measuring heads, and that the support comprises a head exchanger, suitable to support. exchangeably a processing head / measurement, which processing head / measurement in a maintained configuration is called the active processing / measurement head. 21. The treatment device according to one of the preceding claims, characterized in that the set of treatment heads and measuring heads in the deposit comprise at least one grinding head and a polishing head. 22. The treatment device according to one of the preceding claims, characterized in that said device is suitable for carrying out the method according to one of claims 1 to 13. Reltem.V Reasoned statement with regard to novelty, inventive step or industrial applicability; citations and explanations supporting such statement 1; ; D1 DE 10 2007 052056 A1 (PRINZING GEORG GMBH CO KG [DE]) November 13, 2008 (2008-11-13) D2 CN 204 673 769 U (SHANGHAI YUSHANHÖNG MACHINERY MEG CO. LTD. ZHANG WEI) 30 september 2015 (2015-09-30) D3 DE 10 2010 054973 Al (ZEISS IND MESSTECHNIK GMBH [DE]) 14 Jun 2012 (2012-06-14) D4 FR 2 694 720 A1 (THIBAUT SA [EN]) 18 februari 1994 (1994-02-18) 2 The present application does not meet the criteria of patentability, because the 'su'bjeot-matter; ofIndependentchims'i · andHMIs notnew. 2.1 The document D1 discloses a method for processing a three-dimensional, concrete object, for example for a concrete staircase having granulates [see Item VIII, §1], said method comprising the step of processing the object by means of active processing head (5), which processing is performed on a basis of a holder on a robotic arm (22), which said processing is executed on the basis of a true model, which true model is drawn up (d) [djs], paragraph [0020] - paragraph [0049]; dlaas 1-5,16,26; figures; paragraph [0020] - .paragraph [0028] ]). Document D2 discloses the features of claim 1, see the corresponding passages cited in the search report. The subject-matter of claim 1 is therefore deprived of novelty. 2.2: The document 'D1 discloses the document' in parentheses applying to this document) a processing device for a three-dimensional processing, concrete object (1), for example for a concrete staircase having granulates [see Item VIII, §1 ], said device comprising a robotic arm (22), and a holder for a processing head (5) and / or measuring head, which holder is provided at said robotic arm (22), at least one measuring module (27) is provided, which is suitable for measuring positional information. The subject-matter of claim 17 is therefore, the subject-matter of claim 17 (paragraph [0049]) deprived from novelty. 3. Dependeniclaim s 2-6 6an d1S-26donotoontai nan yfaature s which, i n combination with the features of any claim to which they refer, meet the requirements-ef novelty,; see documnnts, D · i. -D4 and. .the corresponding eassagesmitedln ·; tfâe · :: sparch report. 3.1: Document D1: ... discloses:. a method for ... measuring:: the. cast:. concrete::: element and to determine its position. It further discloses a robotic arm and a tool exchanger. 3.2. Document D3 discloses a measurement system and computer program. including instructions for measuring the geometry of an object. The system included a ..: gantry construction.:.: Holding ... the. measurement. '.head. 3 3 Document D4 discloses a numerical controlled machine for the surface of a concrete staircase. The concrete staircase is at a point of reference before the working operations can start. The use of a reference point; ; or - creating. . at; ..numerical ..model is.; .merely. one; .of .several.; straightforward. possibilities from which the skilled person would select, in; with circumstances, without the exercise of inventive skill in order to be able to work the surface. of a concrete. object. Certain defects in the application are not covered by the description, nor are these documents identified therein. 2. The. features .of'the'Olaimsjare.nötprovidedrwith referencesigns ptacedin parentheses. Some: obSerVationssoh: sthe; Application

1 .. The. ; expression "for .. example" · '' 'in ;. '. claims .1 S s; and 17 has no limiting effect on the scope of said claims. That is to say, thefp.atures.foll · owing: such antexpressibn are to be considered as entirely optional.

The following statement in the description on page 2, lines 5-6 and on page 3, lines 21-22 "in particular, the operation is done on the basis of a true model" It may be different in the form of the claim, resulting in lack of clarity when used.