EP4226300A1 - Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction - Google Patents

Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction

Info

Publication number
EP4226300A1
EP4226300A1 EP21786944.5A EP21786944A EP4226300A1 EP 4226300 A1 EP4226300 A1 EP 4226300A1 EP 21786944 A EP21786944 A EP 21786944A EP 4226300 A1 EP4226300 A1 EP 4226300A1
Authority
EP
European Patent Office
Prior art keywords
construction
robot
task
management system
construction task
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21786944.5A
Other languages
German (de)
English (en)
Inventor
Peter Brugger
Sascha Korl
Nitish Kumar
Julia Zanona
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Publication of EP4226300A1 publication Critical patent/EP4226300A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D17/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D17/28—Supports; Devices for holding power-driven percussive tools in working position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Definitions

  • the invention is based on a construction robot for carrying out construction tasks on a construction site, in particular a building construction and/or civil engineering construction site, comprising at least one manipulator for carrying out a construction task, as is known, for example, from publication WO 2016/066615 A2.
  • the invention also relates to a construction robot system and a method for controlling at least one construction robot of a construction robot system.
  • BIM Building Information Modeling
  • the object of the present invention is therefore to offer a construction robot, a construction robot system and a method for controlling a construction robot, which enable documented execution of construction tasks from a construction task list.
  • the task is solved comprehensively by a construction robot for carrying out construction tasks on a construction site, in particular a building construction site and/or a civil engineering construction site at least one manipulator for executing a construction task, an internal construction task management system that is set up to store an internal construction task list of the construction robot in a retrievable manner, the internal construction task list including one or more construction tasks to be carried out by the construction robot on the construction site, and a communication interface for communication with an external construction task management system , wherein the external building task management system is set up to store an external building task list in a retrievable manner, the external building task list comprising one or more building tasks to be carried out on the construction site, the building robot being set up to communicate at least one building task and/or a building task status of a building task of the internal via the communication interface Send construction task list to the external construction task management system.
  • the construction robot can have a mobile platform.
  • the mobile platform can be designed as a vehicle.
  • it can have a wheeled undercarriage, in particular at least 1 wheel, and/or a tracked undercarriage, in particular comprising at least one chain. It can be designed to be movable in at least one plane.
  • the mobile platform can also be airworthy.
  • the construction robot can be designed as a flying object, in particular as an unmanned flying object.
  • the mobile platform can be designed as a multicopter and/or have one.
  • the manipulator can be designed as a working arm, preferably with an end effector, and/or can include one.
  • the working arm can have several joints.
  • the end effector can be set up to hold a machine tool, for example a hammer drill.
  • a machine tool for example a hammer drill
  • the manipulator can also be designed as a suspension, for example comprising a cardan joint, and/or can comprise such.
  • the suspension can, for example, be designed as a gimbal and/or include one.
  • the manipulator can have at least 6 degrees of freedom, in particular at least 3 positional degrees of freedom and at least 3 positional degrees of freedom.
  • the manipulator can be motorized and/or can be moved with motor support.
  • the manipulator can have at least one hydraulic actuating element, a pneumatic actuating element and/or a rod-shaped actuating element, for example a linear actuator.
  • the manipulator can Have lifting device, in particular to additionally adjust the position of the end effector, in particular to be able to change it.
  • a construction task can include, for example, drilling a hole, in particular in a ceiling, in a wall and/or in a floor.
  • a construction task can also include creating a slot, for example by sawing, demolition work, surface treatment, for example plastering and/or grinding at least some areas of a component.
  • a construction task can in particular include the processing of rock, in particular of a concrete element.
  • the construction task can also include an inspection of at least one component. The inspection can be carried out optically, acoustically and/or haptically.
  • the construction task management systems can each include a computer unit.
  • they can include a storage unit for retrievable storage of the internal or external construction task list.
  • a construction task status can also be stored for a construction task in the construction task list.
  • a construction task status can correspond to a degree of completion of a construction task assigned to it.
  • the degree of completion can be at least on the ordinal scale.
  • the construction task status can correspond to one of the status values “construction task not yet started”, “construction task in progress”, or “construction task completed”.
  • the status of the construction task can be recorded and/or recorded in at least a two-stage scale level.
  • the construction task status can also contain or correspond to information about an error case.
  • the status of the construction task can also correspond to incorrect or incomplete drilling of a borehole or a corresponding need for post-processing.
  • a construction task can include recording the status of the construction task.
  • a construction task that includes an inspection can include the recording of the status of the construction task.
  • the external construction task management system and the external construction task list can correspond to an internal construction task management system or an internal construction task list of a further, in particular similar, second construction robot and/or include this or these.
  • the external building task management system can correspond to a global building task management system, in particular with a global building task list.
  • the external construction task management system can be a BIM planning system.
  • the external construction task list can be in the form of or as part of BIM data or can include BIM data.
  • the invention is based on the idea of equipping the construction robot with a communication interface so that it can communicate the construction task and/or its status to the external construction task management system during and/or after a construction task has been carried out from its internal construction task list.
  • the external building task management system can thus update the external building task list based on the data received, so that a documented execution of the building tasks of the internal and/or the external building task list is made possible.
  • the construction robot has a display unit that is set up to display at least one construction task from the internal construction task list, preferably all construction tasks from the internal construction task list, and/or at least one construction task status
  • a user of the construction robot can use the display unit to provide information about the construction tasks currently to be performed by the construction robot will.
  • the display unit is preferably connected to an input unit, so that the user can make inputs directly on the construction robot; for this purpose, the display unit can include a touch screen.
  • the construction robot can be set up so that at least one construction task in its internal construction task list can be changed, in particular created, modified and/or deleted by the user. He can also be set up to send his internal building task list or at least changes to the building task list to the external building task management system via the communication interface.
  • the construction robot can also be set up to receive changes to the external construction task list from the external construction task management system via its communication interface.
  • the communication interface preferably comprises a wireless one
  • Communication interface for example a generic as “WLAN” and / or general Interface known as a “Bluetooth” interface, so that establishing communication by means of the communication interface does not require the laying of cables or the like and communication is also possible over greater distances in the range of, for example, several meters.
  • the communication interface comprises a mobile radio interface, for example corresponding to a standard generally known as the 2G, 3G, 4G and/or 5G standard, which enables communication over particularly long distances.
  • the communication interface can also be set up for data transmission using a portable memory unit.
  • the portable memory unit can be designed, for example, in the form of a portable non-volatile memory, such as, for example, commonly known as a USB stick. It can also be part of a portable electronic device, for example a mobile phone.
  • Such data transmission can be useful or even necessary on construction sites in particular, where wireless communication is not possible or only possible to a limited extent, for example in the case of communication across several floors of an iron-reinforced concrete building.
  • position data recorded here can be taken into account, for example, when determining the processing sequence of the construction tasks to be carried out by the construction robot.
  • a total time for completing all the construction tasks of the construction task list can be reduced.
  • the construction robot can be set up to receive and/or send at least one position and/or position, in particular of itself and/or its manipulator and/or another construction robot and/or another manipulator, via the communication interface.
  • the recipient can Measurement data depending on the type of measurement data, for example, further construction tasks to be carried out depending on the Position selected and / or assigned. For example, those construction tasks that are to be carried out in its vicinity can be assigned priority to a construction robot.
  • the measurement data itself can also be used, for example, to complete inspection construction tasks.
  • the at least one piece of measurement data is sent to another construction robot. Construction tasks can thus be completed interactively and/or faster.
  • the construction robot can be designed to move semi-autonomously, in particular under the necessary supervision of a user of the construction robot, or autonomously, in particular without the necessary supervision by a user. He can also be trained to carry out a construction task semi-autonomously or autonomously. While safety requirements on construction sites can be met more easily in the case of construction robots that move semi-autonomously and/or carry out construction tasks semi-autonomously, construction tasks can be carried out independently of the user, in particular by a construction robot that is designed to both move autonomously and carry out construction tasks autonomously.
  • the communication interface of the construction robot can offer more than one communication channel. In this way, work interruptions due to poor connection quality on a communication channel can be avoided.
  • the construction robot can be set up to switch to an alternative communication channel, for example to data transmission using portable memory units, if there is no data connection to a national and/or to a local network, in particular a radio network such as a WLAN network.
  • the scope of the invention also includes a construction robot system for carrying out construction tasks on a construction site, comprising a first construction robot according to the invention and an external construction task management system which is set up to store an external construction task list in a retrievable manner, the external construction task list comprising one or more construction tasks to be carried out , and wherein the first construction robot is set up to communicate with the external construction task management system via its communication interface.
  • the first construction robot can be set up to send at least one construction task and/or a construction task status of a construction task from its internal construction task list to the external via its communication interface to send construction task management system.
  • the external work order management system may include a BIM planning system.
  • the external construction task list can be in the form of or as part of BIM data.
  • the construction robot system thus enables the construction robot to send construction tasks and/or a construction task status to the external construction task management system.
  • the construction tasks of the external construction task list located there can thus be updated and the construction progress achieved by the construction robot can be documented.
  • the external work order management system may include a global work order management system.
  • the construction task management system can be set up to store a global construction task list in a retrievable manner, the global construction task list comprising one or more construction tasks to be carried out on the construction site.
  • the global construction task management system can include a computer unit with a memory unit for retrievably storing the global construction task list.
  • it can include a central database system.
  • the construction robot system can also include at least one second construction robot according to the invention, with the external construction task management system including the internal construction task management system of the second construction robot.
  • the external construction task management system can correspond to the internal construction task management system of the second construction robot.
  • the first construction robot can thus be set up to communicate with the second construction robot via its communication interface.
  • the second construction robot is preferably also set up to communicate with the first construction robot via its communication interface.
  • the first construction robot is set up to send at least one construction task and/or at least one construction task status to the second construction robot and/or the global construction task management system via its communication interface.
  • the second construction robot is preferably also set up analogously for communication with the first construction robot and/or the global construction task management system.
  • the second construction robot can thus be informed, for example, that the first construction robot has taken over and/or completed a construction task, so that double work can be carried out avoid the second construction robot.
  • the global construction task management system or, in general, a central control system for controlling the first and the second construction robot can be dispensed with. Construction tasks can thus also be carried out in areas of a construction site from which communication with the global construction task management system and/or the central control system would not be possible.
  • the communication interface is designed to be wireless, but wireless communication is prevented, for example by reinforced concrete walls, reinforced concrete floors and/or reinforced concrete ceilings, at least between the first and/or the second construction robot and the global construction management system and/or the central control system , for example shielded.
  • the first and the second construction robot can communicate with one another, in particular send at least one construction task and/or at least one construction task status from one of the two construction robots to the other construction robot.
  • this information transfer can take place indirectly by means of the global construction task list; in the case of communication between the first and the second construction robot, it can take place directly between the two construction robots.
  • the construction robot system can include a relay station for transmitting at least one construction task and/or at least one construction task status.
  • the relay station can be set up, for example, for data transmission between a local network, for example a network commonly referred to as “WLAN” and a national network, in particular the Internet.
  • WLAN wireless local area network
  • the local network and then preferably also the relay station can alternatively or additionally be set up for data transmission by means of a portable memory unit.
  • the first and the at least one second construction robot therefore do not require a direct data connection to the national network, to which direct data connections can often only be established with reduced connection quality, for example in iron-reinforced concrete buildings.
  • the relay station can include a computer unit.
  • she can also Include storage unit.
  • the global construction task list or at least a copy of the global construction task list can be stored and/or stored in the memory unit of the relay station.
  • the computer unit can include a building task management system, in particular for managing the global building task list or at least a copy of the global building task list. In this way, work interruptions due to a possibly temporary, poor network connection to the national network can be avoided.
  • the global construction task management system can comprise a cloud-based computing unit or be part of the cloud-based computing unit.
  • the global construction task management system can then be connected and/or connected to the local network and thus to the first construction robot and/or the at least one second construction robot via the national network and the relay station.
  • the invention also includes a method for controlling at least one construction robot of a construction robot system according to the invention, wherein at least one construction task and/or a construction task status of the internal construction task list of the construction robot is sent to the external construction task management system.
  • the external list of building tasks managed by the external building task management system can be updated with the help of the sent data, so that the execution of building tasks can be documented and/or documented.
  • At least one construction task and/or a construction task status of the internal construction task list of a first construction robot is sent to the internal construction task management system of a second construction robot.
  • the two variants thus enable direct or indirect updating of the internal construction task list of the second construction robot.
  • the indirect update can be done by means of the global construction task list, in particular by sending data to the global construction task management system by the first construction robot and retrieving data from the global construction task management system by the second construction robot, take place.
  • one variant of the method provides that at least one construction task to be carried out from the external construction task list is transmitted to at least one of the construction robots depending on its respective position and/or location.
  • At least one of the construction tasks to be carried out on the construction site in particular one of the construction tasks contained in the global construction task list, can be assigned to at least one of the construction robots by a global construction task management system of the construction robot system.
  • At least one of the construction robots can select a construction task to be carried out by it from the external, in particular from the global, construction task list.
  • the position and/or location of the construction robot and/or at least one of the other construction robots can be taken into account for the selection.
  • properties of the construction robot and/or at least one of the other construction robots can also be taken into account.
  • the size of a working area of the manipulator, within which the manipulator can carry out construction tasks can be taken into account.
  • several construction tasks, all of which fall within a working area of the construction robot, without the construction robot having to be relocated as a whole, are assigned to the construction robot for execution or by the construction robot for execution to be chosen.
  • FIG. 3 shows a second construction robot system in a schematic representation
  • FIG. 5 shows a flow chart of a method for controlling at least one construction robot of a construction robot system
  • FIG. 6 shows a fourth construction robot system in a schematic representation
  • FIG. 7 shows a fifth construction robot system in a schematic representation.
  • Fig. 1 shows a construction robot 10 with a chassis 12 designed as a tracked chassis, a control chamber 16 designed in a housing 14 and a manipulator 18 arranged on the top of the housing 14.
  • the manipulator 18 is designed as a multiaxially controllable arm, at the free end of which is an end effector 20 with a drilling machine tool 22 and a dust extraction device 24 arranged thereon.
  • the construction robot 10 is not limited to this configuration.
  • one or more other electrical machine tools and/or one or more other devices for completing Construction tasks include a measuring tool such as an image sensor and/or a length meter, for example a transit time distance meter or a LIDAR, a cutting tool, a drilling tool, a grinding tool or another tool suitable for completing construction tasks.
  • a measuring tool such as an image sensor and/or a length meter, for example a transit time distance meter or a LIDAR, a cutting tool, a drilling tool, a grinding tool or another tool suitable for completing construction tasks.
  • the construction robot 10 is designed to carry out construction tasks, in particular drilling work in ceilings and walls, on a construction site, for example on a high-rise construction site.
  • it has a computer unit 26 arranged inside the housing 14 , in particular in the control room 16 .
  • the computer unit 26 includes a memory unit 28.
  • the computer unit 26 is equipped with executable program code, so that an internal construction task management system 29 with an internal construction task list 30, which includes one or more construction tasks to be executed by the construction robot 10 on the construction site, is configured by means of the computer unit 26.
  • the internal construction task list 30 is stored in the storage unit 28 so that it can be called up.
  • the computer unit 26 and thus the construction robot 10 also have a communication interface 32 for communication with an external construction task management system, the external construction task management system being set up to store an external construction task list in a retrievable manner, the external construction task list comprising one or more construction tasks to be carried out on the construction site, wherein the construction robot 10 is set up to send at least one construction task and/or one construction task status of a construction task from the internal construction task list 30 to the external construction task management system via the communication interface 32 .
  • the communication interface 32 has a mobile radio interface according to the 4G or the 5G standard, a WLAN interface, a Bluetooth interface and a USB interface for data transmission using portable USB storage units.
  • the construction robot 10 also has a display unit 34 which is designed as a touch screen.
  • the display unit 34 thus also forms an input unit for manual data entry by a user of the construction robot 10.
  • the display unit 34 is set up in connection with the computer unit 26 and the internal construction task management system 29, the construction tasks contained in the internal construction task list 30, including the construction task statuses assigned to the construction tasks to display graphically.
  • the display unit 34 is set up to display the construction site or at least a relevant part of the construction site schematically and to display the construction tasks to be performed by the construction robot 10, i.e. drilling, according to the spatial arrangement of the construction tasks graphically in the form of appropriately positioned circles. Depending on the associated construction task status, in this case depending on the respective degree of completion, the circles are displayed with different colors.
  • the construction tasks and the respectively assigned construction task statuses can also be changed manually by the user.
  • a position detection unit 36 for determining the position and location of the manipulator 18 and thus of the construction robot 10 is formed on the end effector 20 .
  • the position detection unit 36 can include a prism.
  • the position detector unit 36 can also have an angle measuring sensor and/or a length measuring sensor, for example a sensor measuring the transit time of light. It is also conceivable that the position detection unit 36 has at least one image sensor.
  • the construction robot 10, in particular the position detection unit 36 and/or the computer unit 26, can have image processing hardware and/or image processing software.
  • the image processing hardware and/or the image processing software can be set up to determine the position and/or location of the manipulator 18 with the aid of image data provided by the image sensor. At least one of the two may be set up to implement a SLAM algorithm. They can also be set up to recognize an object and/or a structure, for example a component, a borehole, a building element or the like. They can also be set up to determine a position and/or a relative position from this.
  • the construction robot 10 is also set up to send the position and location of its manipulator 18 determined by the position detection unit 36 via the communication interface 32 and to receive corresponding position and location data from other construction robots.
  • 2 shows a schematic representation of a first construction robot system 100 for carrying out construction tasks on a construction site, which system comprises three construction robots 10.1, 10.2 and 10.3. The number of three construction robots 10.1, 10.2 and 10.3 is selected as an example.
  • the construction robot system 100 can also have fewer or more construction robots, in particular construction robots corresponding to the construction robot 10 from FIG. 1 and/or construction robots corresponding to the construction robots 10.1, 10.2 and/or 10.3.
  • the construction robots 10.1, 10.2 and 10.3 correspond in their structure and their range of functions to the construction robot 10 described with reference to FIG They can have other features than those described above, in particular other functionalities.
  • the construction robot system 100 also includes a global construction task management system 102, which is implemented using a cloud-based computer unit 104 with a memory unit on which a corresponding program code is executably stored and on which a global construction task list 106 is stored. All construction tasks to be carried out on the construction site in question are stored in the global construction task list 106 .
  • the global construction task management system 102 is set up to store the global construction task list 106 in a retrievable manner.
  • the construction robots 10.1, 10.2 and 10.3 are set up to communicate with the global construction task management system 102 via their communication interface 32.
  • the construction robots 10.1, 10.2 and 10.3 can also transmit the positions and locations determined with their position detection units 36 (FIG. 1) to the global construction task management system 102 via the data connections V1, V2 and V3.
  • the construction robot system 100 includes a mobile phone 108, which has a Data connection V4, in particular via the national mobile network, also with the
  • Construction task management system 102 can be connected and is connected in the state shown in FIG.
  • a user of the mobile phone 108 can query the global construction task management system 102 and, for example, receive an overview of the current construction progress on the relevant construction site.
  • all construction tasks to be carried out on the construction site are initially stored in the global construction task list 106 in the form of BIM planning data.
  • the construction robots 10.1, 10.2 and 10.3 transmitted their particular positions and locations to the global construction task management system 102.
  • the global construction task management system 102 divides the construction tasks contained in the global construction task list 106 among the construction robots 10.1, 10.2 and 10.3, taking into account the positions and positions of the construction robots 10.1, 10.2 and 10.3.
  • the construction tasks assigned to the construction robots 10.1, 10.2 and 10.3 are then sent via the data connections V1, V2 and V3 for execution.
  • the construction robots 10.1, 10.2 and 10.3 store the construction tasks to be carried out in their internal construction task lists 30 (FIG. 1). They then carry them out consecutively, in particular the construction robots 10.1, 10.2 and 10.3 drill holes in ceilings and walls of the construction site that correspond to the construction tasks.
  • the updated associated construction task status ie completion, is sent to the global construction task management system 102, which then updates the global construction task list 106 accordingly.
  • the global construction task management system 102 As soon as one of the construction robots 10.1, 10.2 or 10.3 has completed all the construction tasks of its internal construction task list, it queries the global construction task management system 102 in order to take over the remaining construction tasks, preferably in its vicinity. If a construction task that has already been assigned to another construction robot 10.1, 10.2 or 10.3 is reassigned or reassigned, the global construction task management system 102 sends a corresponding notification to the corresponding construction robot 10.1, 10.2 or 10.3.
  • FIG. 3 shows a further construction robot system 100 which, unless otherwise described below, corresponds to the previously described construction robot system 100 according to FIG.
  • construction robots 10.2 and 10.3 cannot set up a data connection to the national mobile network and therefore also cannot establish a direct data connection to the global construction task management system 102, for example due to their respective location.
  • Data can be exchanged between the relay station 110 and the first construction robot 10.1 by means of a portable memory unit 112 designed as a portable USB memory unit.
  • the relay station 110 can be dispensed with in favor of a direct connection of the construction robot 10.1 to the national mobile network.
  • data can be exchanged via data connections V6, V7 and V8 between the construction robots 10.1, 10.2 and 10.3 via their respective communication interfaces 32 (FIG. 1), in particular their WLAN interfaces.
  • the global construction task management system sends data, in particular construction tasks and/or construction task statuses, via the relay station 110 and by means of the portable storage unit 112 first to the construction robot 10.1, which, if necessary, forwards the data accordingly to the construction robots 10.2 or 10.3 .
  • Data to be forwarded to the global construction task management system 102 is collected by the construction robot 10.1 until the next data transmission via the portable storage unit 112, and then collected to the relay station 110 for transmission communicated to the global construction task management system 102.
  • the construction robots 10.2 and 10.3 may also transmit data.
  • the construction robots 10.1, 10.2 and 10.3 or the respective internal construction task management systems 29 ( Fig. 1) its mode of operation.
  • FIG. 4 shows a further construction robot system 100 which, unless otherwise described, corresponds to the construction robot system 100 described with reference to FIG. 3 .
  • FIG. 5 shows a flowchart of a variant of the method according to the invention in the form of the method 200.
  • the method 200 is used for a better understanding of the invention with reference to the elements in FIGS. 1 to 4 for the construction robots 10.1, 10.2, 10.3 and the construction robot systems 100 introduced reference numerals explained in more detail.
  • a preparation step 210 the construction robots 10.1, 10.2, 10.3 send the through their
  • Position detection units 36 determined positions and attitudes to the global Construction task management system 102.
  • a distribution step 212 the global construction task management system 102 assigns the construction tasks still to be carried out to the construction robots 10.1, 10.2, 10.3, taking into account the data obtained in the preparation step 210, in particular the positions and layers, and sends the assigned construction tasks to the respective construction robots 10.1, 10.2, 10.3 .
  • the construction robots 10.1, 10.2, 10.3 store the received construction tasks in their internal construction task lists.
  • a user of the method 200 or the construction robot system 100 carries out the assignment manually, for example using the mobile phone 108, and/or manually adds construction tasks to the respective internal construction task list for one or more of the construction robots 10.1, 10.2 and 10.3.
  • the construction robots 10.1, 10.2, 10.3 execute the construction tasks of their internal construction task lists.
  • the construction tasks contained in the internal construction task lists can be changed manually by the user of the method 200 or of the construction robot system 100 . It is also conceivable that the user must manually confirm or confirm the execution of construction tasks before the start of the execution.
  • the construction robots 10.1, 10.2, 10.3 store an associated construction task status in their respective internal construction task lists. In particular, they save whether a task could be executed successfully or whether an error and, if applicable, which error occurred during execution.
  • the construction robots 10.1, 10.2, 10.3 change their location and, in particular, go to another location on the construction site for one or more of the construction tasks to be carried out by them.
  • Site relocations can take place autonomously.
  • the user monitors and/or manually controls a necessary relocation.
  • the construction robots 10.1, 10.2, 10.3 send the construction task statuses stored in their internal construction task lists 30 to the global construction task management system 102 by means of their respective communication interfaces 32. This updates its global construction task list 106.
  • the construction robots 10.1, 10.2, 10.3 exchange construction tasks and construction task states, as described above for FIG. 3 or 4.
  • the global construction task management system 102 checks whether all construction tasks have been successfully completed.
  • Method 200 ends when all construction tasks that can be executed by construction robots 10.1, 10.2, 10.3 have been carried out completely successfully. It can be executed again, in particular with new construction tasks.
  • the global work order management system 102 sends an error message to the cellular phone 108, which then communicates this to the user and prompts the user for a decision on how to proceed.
  • the user's input is communicated to the global construction task management system 102 by the cell phone 108 .
  • the method 200 is aborted or continued with the construction tasks that have not yet been completely executed with the preparation step 210, in an alternative method variant with the distribution step 212.
  • FIG. 6 shows a further construction robot system 100 which, unless otherwise described, corresponds to the construction robot system 100 described with reference to FIG. 2 .
  • the construction robot system 100 can also correspond to the construction robot system 100 and in particular with its construction robots 10.1, 10.2 and 10.3 according to FIG.
  • Fig. 6 shows no global construction task management system 102, no computer unit 104 and no global construction task list 106.
  • this can Construction robot system 100 also include at least one of these elements 102, 104, 106, in particular the global construction management system 102 with the global construction task list 106, for example analogous to the embodiments described with reference to FIG. 2, FIG. 3 or FIG.
  • a special feature of the construction robots 10.4, 10.5 and 10.6 is that they each have an image sensor 38.
  • the image sensor 38 can include a 3D camera and/or a 2D camera, for example. It can be set up to record optical image data.
  • the image data can include distance information, for example in the form of a three-dimensional image. They may also contain position information and/or attitude information. Corresponding fields of view for each of the image sensors 38 are shown schematically in FIG. 6 with dashed lines.
  • the construction robots 10.4, 10.5 and 10.6 in particular if at least their image sensors 38 are in different positions and/or in different locations, use their respective image sensors 38 to view different areas of a construction site 114, and in particular of a component located on the construction site 116, for example a wall element, detect.
  • the areas preferably complement one another.
  • the construction site 114 may be a high-rise construction site, for example to construct a building with steel-reinforced concrete.
  • the construction robots 10.4, 10.5, 10.6 are set up to transmit image data captured by their respective image sensors 38 to one of the other two construction robots 10.4, 10.5 or 10.6 and possibly to the to send global construction task management system.
  • the construction robot system 100 can thus carry out construction tasks designed as inspection tasks with a particularly short overall duration.
  • one or preferably more of the construction robots 10.4, 10.5, 10.6 can be involved in completing the same inspection task.
  • a construction progress of the construction site 114 and in particular a degree of completion of the component 116 may have to be inspected as an inspection task.
  • the construction robots 10.4, 10.5 and/or 10.6 involved can capture image data of the construction site 114 and in particular of the component 114 with their respective fields of view and by means of the image sensors 38.
  • the inspection task can be completed at the same time by the construction robots 10.4, 10.5 and/or 10.6 involved.
  • each of the construction robots 10.4, 10.5 and/or 10.6 involved can optically capture a part of the construction site 114 corresponding to its field of vision.
  • One of the construction robots 10.4, 10.5 and/or 10.6 involved, for example construction robot 10.4, can collect the individual image data.
  • the respective other of the construction robots 10.4, 10.5 and/or 10.6 involved send their image data to the collecting construction robot, in the example to construction robot 10.4.
  • the transmitted image data can also correspond to a transmission of construction task statuses, since the recorded image data each correspond to the completion of a part of the inspection task to be completed.
  • the positions and/or locations of the construction robots 10.4, 10.5 and/or 10.6 involved and/or their respective image sensors 38 can be changed, for example in order to bring areas of the construction site 114 to be inspected into one of the fields of vision of at least one of the construction robots 10.4, 10.5 and/or 10.6 involved.
  • the exemplary embodiment is also not limited to the three construction robots 10.4, 10.5 and 10.6.
  • the construction robot system 100 can only have two construction robots; alternatively, it can also have more than three construction robots.
  • FIG. 7 shows a further construction robot system 100 which, unless otherwise described, corresponds to the construction robot system 100 described with reference to FIG. 2 .
  • the construction robot system 100 can also correspond to the construction robot system 100 and in particular with its construction robots 10.1, 10.2 and 10.3 according to FIG.
  • Fig. 7 does not show a global construction task management system 102, a computer unit 104 or a global construction task list 106.
  • the construction robot system 100 can again be configured analogously to the exemplary embodiments with reference to Fig. 6 at least one of these elements 102, 104, 106, in particular the global construction management system 102 with the global construction task list 106, for example analogously to the embodiments described with reference to FIG. 2, FIG. 3 or FIG.
  • a first component 118 for example a panel-shaped component such as a cover plate, is to be fixed to a second component 120, for example a ceiling element, in particular a concrete ceiling.
  • the first component 118 is to be brought to an assembly position on the second component 120 by at least one of the construction robots 10.7, 10.8 and/or 10.9, here for example by the two construction robots 10.7 and 10.8, and held in this assembly position. At least one other of the construction robots 10.7, 10.8 and/or 10.9, here for example the construction robot 10.9, then sets a fixing element, for example a nail, for fixing the first component 118 on the second component 120, which is set using a direct setting device.
  • a fixing element for example a nail
  • This exemplary embodiment thus represents the completion of a construction task as an example of a general exemplary embodiment in which at least two construction robots each take on different subtasks, here moving and holding the first component 118 and fixing the first component.
  • gripping tools 40 are arranged on the end effectors 20 (FIG. 1) of the two construction robots 10.7 and 10.8.
  • the gripping tools 40 can have a gripping portion for gripping the first structural element 118 .
  • the gripping section can have at least one suction device. Alternatively or additionally, it can also have at least one pair of gripping tongs.
  • the two construction robots 10.7 and 10.8 grip the first component 118 with the aid of their gripping tools 40. They then move their manipulators 18 (Fig. 1) synchronously in such a way that the first component 118 reaches the desired mounting position and remains in this mounting position.
  • the construction robot 10.7 sends the construction robot 10.8 status data about itself, for example the next position and/or location data to be reached by its gripping tool 40.
  • the (partial) )Construction task of bringing the first component 118 to the assembly position these position and location data thus correspond to a construction task state. For example, reaching and resting at the assembly position can correspond to complete completion.
  • the construction robot 10.8 then moves its gripping tool 40 according to the position and location data received and preferably taking into account properties of the first component 118 and/or the second component 120, for example to positions at which the first component 118 can be gripped by the construction robot 10.8 and/or or where the first component 118 is to be moved by the construction robot 10.8.
  • the construction robots 10.7 and 10.8 send the construction robot 10.9 a completed signal as a construction task status via their data connections V7 and/or V8.
  • the construction robot 10.9 then moves in succession to all positions where fixing elements are to be set using its direct setting device 42, in particular for fastening the first component 118 to the second component 120, and sets the respective fixing elements, for example nails, accordingly.
  • the construction robot 10.9 is designed as an unmanned flying object, in particular as a multicopter.
  • the construction robots 10.7, 10.8, 10.9 can also have other designs, in particular other mobile platforms, than those shown in FIG.
  • the choice of the mobile platform can depend, for example, on the maximum forces to be applied, the stability, the flexibility, the speeds that can be achieved, or similar parameters.

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Abstract

L'invention concerne un robot de construction (10, 10.1, 10.2, 10.3) pour exécuter des tâches de construction sur un site de construction, en particulier un site de construction de bâtiments et/ou de génie civil, qui comprend au moins un manipulateur (18) pour exécuter une tâche de construction, un système de gestion de tâche de construction interne (29) conçu pour stocker, de manière à pouvoir la récupérer, une liste de tâches de construction interne (30) du robot de construction (10, 10.1, 10.2, 10.3) ; la liste de tâches de construction interne (30) comprenant une ou plusieurs tâches de construction à exécuter par le robot de construction (10, 10.1, 10.2, 10.3) sur le site de construction, et une interface de communication (32) pour communiquer avec un système de gestion de tâches de construction externe, ledit système de gestion de tâches de construction externe étant conçu pour stocker, de manière à pouvoir la récupérer, une liste de tâches de construction externe, ladite liste de tâches de construction externe comprenant une ou plusieurs tâches de construction à exécuter sur le site de construction ; le robot de construction (10, 10.1, 10.2, 10.3) étant conçu pour utiliser l'interface de communication (32) pour transmettre au moins une tâche de construction et/ou un état de tâche de construction d'une tâche de construction de la liste de tâches de construction interne (30) au système de gestion de tâches de construction externe. L'invention concerne également un système de robot de construction (100) et un procédé (200) de commande d'au moins un robot de construction (10, 10.1, 10.2, 10.3) d'un système de robot de construction (100). L'invention permet de documenter l'exécution des tâches de construction sur un site de construction.
EP21786944.5A 2020-10-09 2021-10-05 Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction Pending EP4226300A1 (fr)

Applications Claiming Priority (2)

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EP20200965.0A EP3982307A1 (fr) 2020-10-09 2020-10-09 Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction
PCT/EP2021/077419 WO2022073989A1 (fr) 2020-10-09 2021-10-05 Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction

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EP21786944.5A Pending EP4226300A1 (fr) 2020-10-09 2021-10-05 Robot de construction, système de robot de construction et procédé de commande d'un système de robot de construction

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DE102021210215A1 (de) 2021-09-15 2023-03-16 Technische Universität Dresden, Körperschaft des öffentlichen Rechts System zur automatisierten Durchführung von Bauarbeiten bei einem Neubau oder der Sanierung von älteren Gebäuden
EP4360812A1 (fr) * 2022-10-24 2024-05-01 Hilti Aktiengesellschaft Robot de construction mobile universel avec un manipulateur a régulation de température et utilisation d'un tel robot de construction

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