EP2997328B1 - Device for levelling fillings and construction materials - Google Patents

Description

The invention relates to a device for leveling of fillings and building materials.

Such a device is often referred to as a leveling device and serves to smooth a surface in such a way that a flat, as exactly horizontal surface is formed. This is done in practice long, straight slats which are pulled over the floor. Therefore, these leveling devices are also referred to as pullers. In order to create an exactly horizontal surface by this removal, various devices and methods are used.

Building materials in the form of beds are used, for example, for the thermal insulation of floors in house construction. Another application is the insulation of a swimming pool down. In this case, a well-insulating, lightweight material in the form of small pieces is often mixed with cement or other hardening material (binder) and applied or applied in the space or surface to be insulated. Dry fillings are also used (without cement or binder) for dry screed systems. Lightweight plastics such as foam or polystyrene are particularly suitable as insulating materials of the bed, but also organic or mineral insulating materials in particulate form are conceivable, such as e.g. Expanded glass or swelling stone body.

The main field of application of the subject invention is the leveling of "Styroporbeton" or comparable developments such as Thermotec® of Thermotec Vertriebs GmbH. However, the invention can of course generally for the production of flat / horizontal surfaces of loose materials (insulation materials, sand, gravel ...) or of viscous, self-curing suspensions (lightweight concrete, concrete screed ...) are used.

So far, such activities are often performed with simple rulers or bars. The disadvantage is that the measurement and alignment is very laborious and time-consuming and that without sufficient dimensional orientation often not the necessary accuracy is achieved. Therefore, systems have been developed in which a peel strip is rotatably mounted on a support mounted in space.

The DE 29922048 (U1 ) shows a device for plane installation of dry fillings. First, a support is mounted on a bottom plate at the bottom of the room (preferably in the middle). This is vertically aligned manually manually. The tools used are a laser target plate for scanning the meter crack and a rotary laser, which is set to the meter crack. On the support a ruler (honing strip) is manually height adjustable. The ruler is designed in two parts and can be manually adjusted in length during removal to reach all corners of the room. At the front end of the ruler is a spirit level dragonfly to control the horizontal alignment of the ruler and correct manually if necessary.

The disadvantage is that before removing a support must be mounted in the room and the device must be aligned manually. What needs to be repeated in each room, or in a large room must be repeated several times, when the size of the room exceeds the reach (full length) of the ruler. Another disadvantage is that the device must be removed after completion of leveling again. As a result, the space at which the support was mounted remains free of bulk material and must be manually filled and smoothed.

The DE 10 2006 058 246 A1 shows an improved in some aspects device for leveling bulk material. In this case, a support is mounted in the room, preferably on the ground with tension to the ceiling, but also an assembly on the wall is being considered, which although a restriction of the work area result has, but no gap remains where the device is otherwise mounted on the ground. The support is manually aligned with the aid of measuring devices and adjusting devices. Attached to the post is a bipartite, torsion-resistant arm that can be swiveled around the device. At the free end of the arm a peeling sword is rotatably supported by a vertical downwardly extending stem. By installing the support in the middle of the room, a working area of approx. 30m ^{2 can be} covered. Optionally, a height adjustment device is provided in order to keep constant during the removal of the height at which the withdrawal element is located. This is achieved by measuring the height and automatic height correction by an electrically operated spindle which adjusts the position of the stem relative to the arm.

The disadvantage, in turn, the necessary assembly and alignment work and limited workspace. An advantage over the DE 10 2006 058 246 A1 is that the working height can be adjusted automatically. The disadvantage remains that the horizontal alignment of the peel strip is done manually.

The CH 693638 A5 shows a device in which a trigger beam is supported at its two ends by a respective support device. The orientation of the trigger beam is done by separately controlled height adjustment of its two ends to the support devices. Disadvantages are the limited freedom of movement of the supporting device and the trigger beam, the increased weight of the device and the need to guide the supporting devices on the ground.

The US 20050265785 A1 shows a construction machine, which is equipped with a puller. The trigger beam is mounted at its two ends adjustable in height on a support beam. The support beam is rigidly connected to the boom of the construction machine. The disadvantage is the limited freedom of movement of the trigger beam, the high weight of the device and the associated limited application area.

The US 2010/010183369 A1 shows a device for leveling, which has a mounted on a mobile frame scraper. In a first disclosed embodiment, a peel strip is mounted at its two ends in each case with a handle on the mobile frame, wherein each of the two styles is height adjustable. If the height adjustment devices of the two stems are controlled independently of each other, the Abziehleiste can be aligned horizontally. The disadvantage is the limited freedom of movement of the peel strip, the high weight of the device and the associated limited application area.

In a further embodiment of the US 2010/010183369 A1 , shown in their Fig. 11, the device has only a central handle, which only has a device for height adjustment. The inclination and the angle of the peel strip are not taxable or regulated in this embodiment. The peel strip is always aligned parallel to the mobile frame. The inclination and the angle of the peel strip are therefore disadvantageous not independently controlled by the mobile frame. The disadvantage is therefore inevitably a mobile frame needed, which is aligned even parallel to the ground. Uneven ground, which lead to an inclination of the chassis, can not be compensated.

The US 2004/0071509 A1 shows a puller in which the height - the inclination and the angle of the puller bar are measured and presented to the operator so that it can respond to deviations. The puller bar is rigidly connected to one or two controls for pulling the puller over the surface to be leveled. The disadvantage is that the device itself must be aligned horizontally and to the correct height by the operator. The WO 2007/116044 A1 discloses a similar device having a stem attached centrally to the wiper strip with a sensor unit for detecting the height and an actuator for adjusting the height. The object underlying the invention is to provide a device with which it succeeds after application a bed of lightweight material to easily create an exactly horizontal surface. The leveling work should be able to be performed by a person with significantly less effort and physical effort compared to known manual methods, without having to perform consuming and time-consuming assembly or surveying.

For solving the problem it is proposed to design a pull-off element with the aid of sensors and actuators in such a way that it is always held on the same horizontal plane independently of the movements of the operator.

The peeling element consists of an elongated peel strip and a preferably variable in length stem which is preferably designed as a telescopic rod. This telescopic rod is preferably connected at its lower end via a hinge with the peel strip. This joint is adjusted via an actuator or more actuators in such a way that the Abziehleiste is always exactly aligned horizontally. The necessary data is obtained from these actuators by suitable sensors which detect the spatial orientation of the wiper strip. Thus, a control loop is formed, in which the signal of the sensors serves as a manipulated variable for the actuators.

There is another sensor on the telescopic pole that is capable of detecting the altitude at which it is located. This sensor is used to control an actuator, which determines the length of the telescopic rod. The goal is to keep the honing strip at a constant height. So if the stem is held higher by the user, the height at which the sensor is located at the upper end of the telescopic rod changes. The information of the sensor is used to change the length of the telescopic rod by the actuator in the telescopic rod. So if the stem is held higher, the length of the telescopic pole is extended by the actuator to the same extent. As a result, the Abziehleiste always remains at the same height.

By the two actuator / sensor combinations is achieved that, regardless of the orientation of the stem relative to the vertical and with respect to the height at which it is held, the Abziehleiste is always aligned with respect to the space constantly high, horizontal plane.

• Zeitersparnis, da aufwendige Vermessungsarbeiten und/oder Montagearbeiten entfallen. Tests haben gezeigt, dass gegenüber herkömmlichen Verfahren eine Bearbeitungszeit von zumindest der Hälfte erreicht wird.
• Kostenersparnis, da eine Person die Nivellierungsarbeit durchführen kann und durch die deutlich reduzierte Arbeitsdauer zusätzlich Lohnkosten eingespart werden können.
• Arbeitskomfort und gesundheitliche Aspekte, da die Nivellierungsarbeit im Stehen ausgeführt werden kann und Arbeiten in gebückter Haltung oder auf den Knien entfallen.

The subject leveling device offers several advantages over the prior art.

• Saving time, since complex surveying and / or assembly work accounts. Tests have shown that a processing time of at least half is achieved compared to conventional methods.
• Cost savings, as a person can perform the leveling work and can be saved by the significantly reduced working time in addition to labor costs.
• Work comfort and health aspects, as the leveling work can be carried out standing up and eliminating work in a stooping position or on the knees.

• Erhöhter Komfort, da das Gewicht des Abziehelements nicht von den Armen des Benutzers getragen wird, sondern vom Tragarm der Tragvorrichtung. Das Gewicht des Abziehgerätes und des Tragarms wird über die Tragweste auf die Schultern und das Becken des Benutzers verteilt, wodurch eine Ermüdung der Armmuskulatur verhindert wird.
• Bessere, erleichterte Ausrichtung des Abziehelements. Da der Oberkörper des Benutzers auch in Bewegung immer annähernd senkrecht steht, steht auch der Stiel des Abziehgeräts immer annähernd senkrecht. So entstehen nur geringere Abweichungen der Abziehleiste von der horizontalen Lage und das Stellglied zwischen Stiel und Abziehleiste muss nur geringere Winkelabweichungen ausgleichen.
• Verlangsamung der Vertikalbewegung. Durch die Ausführung des Tragarms als parallelstatischer Gelenkarm wird erreicht, dass das Abziehelement vertikalen Bewegungen des Benutzers nur langsam folgt. Dadurch ergeben sich geringere Anforderungen an die Schnelligkeit des Stellglieds für die Längenänderung des Stiels bzw. der Teleskopstange.

In a particularly preferred embodiment, a support element including carrying vest is additionally used for holding the Abziehelements. The support element may preferably be a parallel-static articulated arm. Such support elements in conjunction with a carrying vest are known in the art and are used in film cameras to allow a smooth camera guide. This device with camera with support arm and vest is also known as Steadycam. The structure of such a system is for example from the US 5360196 (A ) known. The use of this support device in conjunction with a leveling device, however, is new and offers the following advantages.

• Increased comfort because the weight of the puller is not carried by the user's arms but by the support arm of the carrier. The weight of the puller and the support arm is over the vest on the shoulders and distributes the user's pelvis, preventing fatigue of the arm muscles.
• Better, easier alignment of the puller. Since the user's upper body is always almost vertical even when in motion, the handle of the puller is always almost vertical. This results in only minor deviations of the peel strip from the horizontal position and the actuator between the handle and peel strip only has to compensate for smaller angular deviations.
• Slowing down the vertical movement. By carrying out the support arm as a parallel-static articulated arm is achieved that the puller follows vertical movements of the user only slowly. This results in lower demands on the speed of the actuator for the change in length of the stem or the telescopic rod.

For the design of the sensor on the stem there are several possibilities, for example, sensors for inertial navigation (inertial navigation) can be used. An example of this is inertial measurement units (IMU), in which three orthogonally arranged acceleration sensors (also referred to as translation sensors) and three orthogonally arranged yaw rate sensors (also called gyroscopic sensors) are arranged on a platform (inertial platform). As rotation rate sensors and optical gyroscope (ring laser gyro or fiber optic gyroscope) can be used. Particularly advantageous because of their small size and low power consumption are micro-electro-mechanical systems (MEMS), which allow the integration of microchip inertial sensors.

For example, the sensor on the wiper strip may consist of one or more electronic inclinometers, such as electronic spirit levels. Of course, the same or similar inertial sensors as in the sensor at the top of the stem can be used.

Of course, it is also possible to provide only one Inertialsensor (inertial measurement unit) in the Abziehleiste, which serves to control / regulation of both actuators, ie for the actuator to change the angular position between stem and Abziehleiste and for the actuator for changing the length of the stem.

It is also possible to provide for the horizontal alignment two at an angle of 90 ° to each other arranged electric spirit levels and to use an inertial sensor only for detecting the vertical movement.

This results in a system in which there are absolute measured values for the horizontal orientation and relative for the adjustment of the vertical position. If absolute measurement data are to be recorded for the vertical position as well, then another measuring system must be used instead of the inertial sensor.

Such measurement systems may be, for example, optical, using one or more light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers, and one or more photosensitive sensors (e.g., photodiode, photodetector).

Time-of-flight measurements (e.g., by ultrasound or light beam), e.g. Runtime measurement to the ceiling of a room by a transmitter / receiver arrangement at the top of the stem and detecting the deviation from the vertical of the stem by a arranged in this electronic spirit level. Of course, such an implementation works only in rooms with a horizontal, level ceiling.

Systems are also conceivable in which the light source is arranged on the handle or on the stripper and the sensor or sensors for detecting the spatial position of the light source are arranged in space. Conversely, of course, the light source can be arranged in the room and the light-sensitive sensor on the stem or the Abziehleiste the Abziehelements be arranged.

These prior art measuring devices described herein are illustrative of the invention and may, of course, be combined in any manner well-known to those skilled in the art, or by other prior art known measuring devices for detecting the spatial location and position of a device serve, be replaced or supplemented.

Fig. 1:

Zeigt die bevorzugte Ausgestaltung des erfindungsgemäßen Abziehelements.

Fig. 2:

Zeigt das Prinzip nach welchem das Abziehen erfolgt.

Fig. 3:

Zeigt die bevorzugte Ausgestaltung der erfindungsgemäßen Abziehelements mit Verwendung einer Tragvorrichtung und Darstellung eines möglichen Sensorprinzips.

Fig. 4:

Zeigt das Prinzip der gelenkigen Verbindung zwischen Stiel und Abziehleiste und die Ansteuerung der Aktuatoren.

Fig. 5:

Zeigt eine zweite bevorzugte Variante des Erfindungsgemäßen Abziehelements.

The invention is illustrated by means of drawings:

Fig. 1:

Shows the preferred embodiment of the peeling element according to the invention.

Fig. 2:

Shows the principle according to which the stripping takes place.

3:

Shows the preferred embodiment of the peeling element according to the invention with the use of a support device and representation of a possible sensor principle.

4:

Shows the principle of the articulated connection between the handle and the extraction strip and the actuation of the actuators.

Fig. 5:

Shows a second preferred variant of the inventive stripping.

The subject invention is characterized firstly by the fact that the spatial orientation of the peel strip 1 is detected. More specifically, it is sufficient that its horizontal orientation and the height h on which it is located with respect to a reference plane are detected by sensors. Second, by having one or more actuators 5, which serve to control and / or regulate the horizontal orientation and the height h of the puller strip 1.

Fig. 2 shows the stripper 1 in a first and a second position. The spatial position and orientation of the peel strip 1 can be detected in a reference / world coordinate system (x, y, z) and / or in a relative coordinate system (x ', y', z ') or (x ", y", z) The xy plane of the world coordinate system is usually oriented horizontally and the z axis is vertical, the xy plane can be real, eg. the floor or the ceiling of a room can be given by means (eg projection by a rotating laser 6.2.1) or purely virtual. The plane x'-y 'is formed by the underside of the peel strip 1, that is, the surface which rests on the ground during leveling. During leveling, the plane x'-y 'always aligns parallel to the xy plane. The xy plane also serves as the horizontal reference plane for controlling the height h of the pull bar 1. Therefore, it is sufficient to set a reference plane before leveling. Since this is usually aligned horizontally, it is sufficient to detect the inclination of the plane x'-y 'and to control or regulate so that it is zero, that is, the plane x'-y' is also horizontal.

If the reference plane x-y real is present, the height difference between this plane and the plane x'-y 'is measured and kept constant by the controller. If the height h is to be relatively detected, e.g. by an inertial sensor, the plane x-y can be virtually specified. This can be done by keeping the peel strip at the desired height and referencing the plane x'-y 'thus present as a reference plane x-y. During leveling, the height difference between the two levels is kept at zero.

In Fig. 1 a possible implementation of the peeling element is shown. The peel strip 1 and the stem 3 are connected to each other via a joint 2, which has at least 2 degrees of freedom. For example, it may be formed as a ball joint or as two successively arranged at an angle of 90 ° to each other pivot joints. This makes it possible to change the horizontal orientation of the peel strip 1, regardless of the vertical orientation of the handle 3, or keep it constant horizontally. In order to change the height h of the peel strip 1, the stem 3 is made variable in its length. In Fig. 1 the handle 3 is designed as a telescopic tube, wherein the lower part of the stem 3 has a smaller diameter and in the upper part of the stem 3, which has a larger diameter added is. In the upper part of the stem 3 is a linear drive, which moves the lower part of the stem 3 from the upper part of the stem 3 out or into it. For this relative movement of the two handle parts causes a change in height of the puller strip 1, the upper part of the stem must be kept. The support must oppose to the movement of the upper part of the stem 3 a force (counterforce) which is higher than the force which is applied to move the Abziehleiste 1 together with the lower part of the stem 3 vertically to the leveling surface. The holding of the upper part of the stem 3 can be done by a person, or preferably by a carrying device. If the peeling element is held directly by a person, this has the disadvantage that the weight of the peeling element acts on the arms of the person. In addition to the weight force, the person must also apply the counterforce, which can act alternately with or against the weight force.

Fig. 3 shows the advantageous holding the Abziehelements on a support device. The support device consists of a support arm 8 and a harness 9. The harness serves to transmit the weight of the Abziehelements and the support arm 8 to the body of a person. The harness 9 may be attached in the form of a vest on the upper body, or in the hip or thigh area. The support arm 8 is in the example after Fig. 3 designed as a parallel static articulated arm. In the middle vertically pivotable part of the articulated arm, a spring is mounted, whose bias corresponds to the weight of the Abziehelements. The spring force thus counteracts the weight. Thus, the pull-off element can be operated by the person to whom the carrying harness 9 is fastened, with the arms, without having to hold the pull-off element.

The support arm 8 is connected to the harness 9 via a hinge with the harness 9. The axis of rotation of the joint is vertical, so that the Abziehelement can pivot relative to the person in the horizontal plane. Another hinge is located at the front end of the support arm 8, where the connecting element 7 engages in these. The axis of rotation is again vertically aligned, so that the Abziehelement is pivotable about this axis in the horizontal plane. If this hinge is close to the stem 3, or the stem 3 passes through the hinge through the Abziehelement can be quasi or exactly rotated about the vertical axis of the stem 3. The same is achieved if on the side of the connecting element 7, in which the stem 3 is received, a rotary joint with a vertical axis of rotation is present.

The puller can also be carried by a robot. For this purpose, a support arm 8 is preferably mounted on a controllable mobile robot platform. Since the peeling element according to the invention including actuators and sensors can be made very easily, preferably below 5 kg, more preferably below 3 kg, a lighter, smaller robot can be used, which can be used in the interior of buildings.

• Aufstellen des Rotationslasers 6.2.1 an einem beliebigen Punkt im Raum, auf einer beliebigen oder ausgemessenen Höhe. Dazu kann ein Stativ mit Dreibein dienen.
• Selbstnivellieren des Rotationslasers 6.2.1 auf die Horizontale.
• Anlegen des Traggeschirrs 9 mit Tragarm 8 und Abziehelement 1.
• Festlegen der Höhendifferenz, welche die Abziehleiste 1 zur durch den Rotationslaser 6.2.1 vorgegebenen Ebene x-y einnehmen soll.
• Bei beliebiger Höhe des Lasers kann die Abziehleiste auf die gewünschte Höhe h gehalten werden und die Höhendifferenz zur Ebene x-y als Referenzwert festgelegt werden.
• Bei ausgemessener Höhe des Lasers kann ein Absolutwert für die Höhendifferenz vorgegeben werden. Z.B. die Höhendifferenz soll exakt 100cm betragen.
• Abschreiten des Raumes unter Handhabung (schwenken/drehen der Abziehleiste 1 in der horizontalen Ebene) des Abziehelements.
• Während des Abschreitens wird die Abziehleiste 1 durch die Aktuatoren 5 in der Horizontalen gehalten und durch den Aktuator 4 wird die Höhendifferenz der Abziehleiste 1 zur Bezugsebene, welche vom Rotationslaser aufgespannt wird, konstant gehalten. Die Aktuatoren 5 werden unter Verarbeitung der Daten/Signale des oder der Sensors 6.1 angesteuert bzw. geregelt. Der Aktuator 4 wird unter Verarbeitung der Daten/Signale des oder der Sensors 6.2 angesteuert bzw. geregelt. Als Sensoren 6.1 können beispielsweise zwei im Winkel von 90° zueinander angeordnete elektronische Wasserwaagen, oder eine inertiale Messeinheit eingesetzt werden. Als Sensor 6.2 wird ein optischer Empfänger verwendet, welcher dazu in der Lage ist die Höhendifferenz zur vom Rotationslaser 6.2.1 aufgespannten Bezugsebene x-y festzustellen.

In Fig. 3 a sensor principle is shown in which a mounted in space rotating laser 6.2.1 is used. The rotary laser 6.2.1 is preferably carried out horizontally self-leveling. The method steps for performing the leveling in this case are as follows:

• Setting up the rotary laser 6.2.1 at any point in the room, at any or measured height. This can be a tripod with a tripod serve.
• Self-leveling of the rotary laser 6.2.1 on the horizontal.
• Application of the harness 9 with support arm 8 and peeling 1.
• Setting the height difference, which is the take-off strip 1 to occupy the predetermined by the rotation laser 6.2.1 level xy.
• At any height of the laser, the peel bar can be kept at the desired height h and the height difference to the xy plane can be set as the reference value.
• If the height of the laser is measured, an absolute value for the height difference can be specified. For example, the height difference should be exactly 100cm.
• Walk the room with handling (pivoting / turning the screed 1 in the horizontal plane) of the puller.
• During Abschreitens the Abziehleiste 1 is held by the actuators 5 in the horizontal and by the actuator 4, the height difference of the Abziehleiste 1 is maintained constant to the reference plane, which is spanned by the rotary laser. The actuators 5 are controlled or processed by processing the data / signals of the sensor or 6.1. The actuator 4 is controlled or processed by processing the data / signals of the sensor or 6.2. As sensors 6.1, for example, two at an angle of 90 ° to each other arranged electronic spirit levels, or an inertial measuring unit can be used. As sensor 6.2, an optical receiver is used, which is able to determine the height difference to the plane defined by the rotation laser 6.2.1 reference plane xy.

In Fig. 4 the principle is shown how the Abziehleiste 1 is held in the horizontal, when a joint 2 between Abziehleiste 1 and 3 stem is present. The joint 2 is formed in this case by two hinges, each of these hinges is adjustable with a motor. The motor can be designed as a direct drive, servo or stepper motor. It is important that a highly dynamic drive is used to perform high-frequency, smallest correction movements. For driving the motors, the signal of the sensors 6.1 is processed. For example, these are electronic spirit levels. One of these spirit levels is arranged in the direction of the x-axis, the other in the direction of the y-axis (not shown, runs perpendicular to the paper plane). Is used by the spirit level, which in Direction of the x-axis is arranged, detects a deviation from the horizontal, the motor whose axis of rotation in the y-direction, driven to compensate for this deviation. If the spirit level, which is arranged in the direction of the y-axis, detects a deviation from the horizontal, the motor, whose axis of rotation runs in the x-direction, is controlled in order to compensate for this deviation. Of course, in turn, other sensors 6.1 can be used to detect these deviations.

The sensor 6.2 for the height detection is mounted in this case in the pull bar 1. This may be an inertial sensor, or an optical or acoustic receiver which is capable of determining its position with respect to a reference system. By processing the signals of this sensor 6.2, the actuator 4 is controlled to keep the height h of the stripper 1 constant. The actuator 4 can be designed as a linear drive, linear motor, rack drive, toothed belt drive or the like. Important is in turn a high dynamics of the drive.

Fig. 5 shows another concept of the subject invention. In this case, it is necessary that the Abziehelement by a support device (support arm on a vest, a robot or on a mounted support) is held. Here, the stem 3 is not connected via a hinge 2 with the peeling element 1, but fixedly attached at an angle of 90 ° to this. In order to keep the puller in a horizontal position, it is therefore necessary to keep the handle 3 in a vertical position. This results in a simplification in terms of the sensor. In order to keep the stem in a vertical position, the connecting element 7 is articulated. In the example, this articulated connection is formed by a joint 7.1 and a joint 7.2. Analogous to the joint 2, which could change or keep constant the orientation of the peel strip 1 with respect to the horizontal, the alignment of the stem 3 with respect to the vertical can be changed or constant by means of the joints 7.1 and 7.2 being held. The joints 7.1 and 7.2 can in turn be designed as a ball joint. The joints 7.1 and 7.2 are automatically adjustable by suitable actuators.

In Fig. 5 In addition, a variant is shown in which the handle 3 is not designed as a telescopic rod. The actuator 4 is here part of the connecting element 7 and serves to the stem 3 relative to the connecting element 7 to move up and down. It is also conceivable that the actuator 4 engages the support arm 8. With respect to the height then the connecting element 7 is rigidly connected to the stem 3. The change in height of the Abziehleiste 1 is then carried out by changing the position of the connecting element 7 relative to the support arm 8, by adjusting the height of the support arm 8 itself or by changing the height of the support arm 8 with respect to the support harness 9. The sensor 6.1 is in the example Fig. 5 attached to the connecting element 7, while the sensor 6.2 is attached to the stem. It is also conceivable to attach both sensors 6 to the connecting element. The sensor 6.1 is in this case rod-shaped and protrudes from the end of the stem 3 vertically upwards. On its vertical lateral surface, photodetectors are arranged so that they detect incident light of the rotary laser 6.2.1 from all directions and over the entire length range of the rod. A simple sensor arrangement can be achieved if the rod is formed as a dimensionally stable optical waveguide which has a fluorescent layer and thus converts incident light into long-wave light and passes it on to its ends, wherein a photodetector is attached to one or both ends. If the rotating laser 6.2.1 is mounted above the head height of the person operating and also the staff projects beyond the person, it is achieved that the person does not inadvertently interrupt the beam path from the rotation laser 6.2.1 to the sensor 6.2 while the space is being traversed.

It is clear from the description of the figures that various design variants of the sensors, actuators, the pull-off element, the connecting element and the joints can be used. It is understood that the described embodiments of the sensors, actuators, the Abziehelements, the connecting element and the joints can be combined in any way to obtain a device according to the invention.

Claims (15)

1. Device for levelling fillings and building materials, comprising a scraping element which consists of an elongated scraping bar (1) and a handle (3) which is fastened centrally to this in the longitudinal direction of the scraping bar (1),
   wherein the device has at least one sensor unit (6) for detecting the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane and has at least one actuator (5) for horizontal alignment and at least one actuator (4) for adjusting the height (h) of the scraping bar (1) with respect to the horizontal reference plane.
2. Device according to Claim 1, characterised in that the scraping bar is connected to the handle (3) by means of a joint (2) which can be adjusted with respect to the horizontal reference plane by means of one or more actuators (5) for the horizontal alignment of the scraping bar (1).
3. Device according to Claim 1 or 2, characterised in that the length of the handle (3) can be varied and that in terms of adjusting the length of the handle (3) at least one actuator (4) is present for adjusting the height (h) of the scraping bar (1) with respect to horizontal reference plane.
4. Device according to Claim 3, characterised in that the handle (3) is a telescopic tube and the actuator (4) is a linear drive.
5. Device according to Claims 1 to 4, characterised in that the sensor unit (6) is an inertial measuring unit.
6. Device according to Claims 1 to 5, characterised in that a sensor unit (6.1, 6.2) is provided in each case for determining the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane, wherein at least one of the two sensor units comprises an electronic water spirit level, an inertial measuring unit, a light-sensitive receiver or an ultrasonic receiver.
7. Device according to one of Claims 1 to 6, characterised in that the handle (3) is mounted on a support arm (8) by means of a connecting element (7).
8. Device according to Claim 7, characterised in that the handle (3) is rotatably mounted about its longitudinal axis or an axis in fixed parallel alignment with its longitudinal axis in the connecting element (7), or the connecting element (7) is rotatably mounted about a vertical axis or an axis in fixed parallel alignment with the longitudinal axis of the handle (3) on the support arm (8).
9. Device according to one of Claims 7 to 8, characterised in that the support arm (8) is a parallel static articulated arm and the support arm (8) is attached to a person by means of a carrying harness (9).
10. Device according to Claim 7, characterised in that it is rigidly fastened to the scraping bar (1) at an angle of 90° and the connecting element (7) is provided with a joint which is adjustable by the actuator (5) to the horizontal alignment of the scraping bar (1) with respect to the horizontal reference plane.
11. Device according to one of Claims 7 to 10, characterised in that the actuator (4) for adjusting the height (h) of the scraping bar (1) with respect to the reference plane is arranged in the connecting element (7).
12. Device according to one of Claims 7 to 10, characterised in that the actuator (4) engages with the support arm (8) for adjusting the height (h) of the scraping bar (1) with respect to the reference plane.
13. Device according to one of Claims 7 to 12, characterised in that one or more sensor units (6) for detecting the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane is arranged in the connecting element (7).
14. Method for levelling a filling or a building material with a scraping element consisting of a scraping bar (1) and a handle (3) which when viewed in the longitudinal direction of the scraping bar (1) is attached centrally to it, wherein the scraping bar (1) is carried by a person or a mobile robot by the handle (3),
    characterised in that
    at least two actuators (4, 5) are present which are controlled or regulated on the basis of the data from at least one sensor unit (6) in such a way that the scraping bar (1) is aligned horizontally independent of the movements of the person or the mobile robot and is held at a previously determined height (h) with respect to a reference plane.
15. Method according to Claim 14, characterised in that the scraping element is carried by a person who is equipped with a carrying harness (9) to which a support arm (8) is attached which serves to hold the handle (3).

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