IL304073A - Method and system of constructing an external wall of a story of a structure - Google Patents

Description

METHOD AND SYSTEM OF CONSTRUCTING AN EXTERNAL WALL OF A STORY OF A STRUCTURE BACKGROUND [0 001]The present invention relates, in some embodiments thereof, to methods and systems for constructing external walls of structures, and, more specifically, but not exclusively, to positioning formworks for casting walls according to light beam markings projected by calibrated light sources to mark a position for positioning the formworks. [0 002]The construction industry has undergone significant changes in recent years due to major advancements in technology and new construction techniques. [0 003]While construction of high-rising building for commercial and office use are typically based on a combination of concrete and metal skeletal structures covered by light external walls (e.g., glass, etc.), in many places around the world structures (buildings) in general and residential buildings (e.g., apartment buildings) in particular, are oftentimes constructed with external concrete walls. [0 004]As the residential high-rising buildings built with concrete walls become higher and higher, for example, higher than 10, or 15 stories, various construction and/or structural aspects and effects typical to concrete casting which have no or little impact for lower buildings, now become highly apparent and may present major challenges for high-rising buildings having external concrete walls. [0 005]Concrete external walls are often cladded with an external cladding layer made of one or more materials for improved aesthetic appearance as well as weather protection. [0 006]Adding cladding layers to cover concrete walls may be done according to one or more methods, technologies and/or techniques known in the art, for example, the Baranovichi method, and/or more advanced methods such as, for example, those described in PCT Patent Application No. IL2022/050515 filed on May 17, 2022, PCT Patent Application No. IL2022/050512 filed on May 17, 2022, and PCT Patent Application No. IL2022/050513 filed on May 17, 2022. The contents of all of the PCT patent applications mentioned herein are all incorporated by reference as if fully set forth herein in their entirety.

SUMMARY [0 007]According to a first aspect of the present invention there is provided a method of constructing an external wall of a story of a structure, comprising: - Receiving planning data relating to construction of the structure at a construction site. - Extracting from the planning data a planned position for positioning one or more outer-formworks for casting one or more external walls arising from a floor of a currently constructed story. - Operating one or more light sources for projecting one or more light beams marking indicating a physical position for positioning the one or more outer- formworks. The one or more light sources are calibrated with respect to the construction site and in accordance to the planning data. - Positioning the one or more outer-formworks according to marked physical position. - Positioning one or more corresponding inner-formworks. - Securing the one or more outer-formworks and the one or more corresponding inner-formworks to one another. - Applying concrete between the one or more outer-formworks and the one or more corresponding inner-formworks to form the one or more external walls. [0 008]According to a second aspect of the present invention there is provided a system for positioning formworks for casting external walls of a structure, comprising: - A storage storing planning data relating to a structure constructed at a construction site. - One or more light sources adapted to project light beam markings on a floor of a currently constructed story of the structure in the construction site. The one or more light sources are calibrated with the construction site and in accordance with the planning data. - One or more processors coupled to the storage and to the one or more light sources. The one or more processors are adapted for:  Extracting from the planning data a planned position for positioning one or more outer-formwork used for casting one or more external walls arising from the floor of the currently constructed story.

 Computing a physical position for positioning one or more outer-formworks based on the planned position.  Operating the one or more light sources to project one or more light beam markings on the floor indicating the physical position for the one or more outer-formworks. [0 009]According to a third aspect of the present invention there is provided a method of positioning formworks for casting external walls of a structure, comprising using one or more processors for: - Obtaining planning data relating to a structure constructed at a construction site. - Extracting from the planning data a planned position for positioning one or more outer-formworks used for casting one or more external walls arising from the floor of the currently constructed story. - Computing a physical position for positioning one or more outer-formworks based on the planned position. - Operating one or more light sources to project one or more light beam markings on the floor indicating the physical position for the one or more outer-formworks, the one or more light sources are calibrated with the construction site and in accordance with the planning data. [0 010]According to a fourth aspect of the present invention there is provided a system for accurately projecting light beam markings, comprising: - A storage storing mapping data relating to a site. - One or more light sources adapted to project light beam markings in at least a part of the site. - One or more image sensors adapted to capture imagery data depicting the at least part of the site. - One or more processors coupled to the storage, to the one or more light sources, and to the one or more image sensors. The one or more processors are adapted to execute a code. The code comprising:  Code instructions to operate the one or more light sources to project one or more light beam markings to mark one or more areas at the site.  Code instructions to receive from the one or more image sensors imagery data depicting the one or more marked areas.

 Code instructions to register the imagery data with the mapping data and in accordance with the mapping data according to a plurality of static reference points recorded in the mapping data and identified in the imagery data.  Code instructions to analyze the imagery data to identify a marked position of the one or more areas marked by the one or more light beams.  Code instructions to compare between the marked position of the one or more areas and an actual position of the one or more areas extracted from the mapping data.  Code instructions to operate the one or more light sources, based on the comparison, to project one or more adjusted light beam markings to mark the actual position of the one or more areas. [0 011]According to a fifth aspect of the present invention there is provided a method of accurately projecting light beam markings, comprising using one or more processors for: - Obtaining mapping data relating to a site. - Operating one or more light sources to project one or more light beam markings to mark one or more areas at the site. - Receiving from one or more image sensors imagery data depicting the one or more areas. - Registering the imagery data with the mapping data and in accordance with the mapping data according to a plurality of static reference points recorded in the mapping data and identified in the imagery data. - Analyzing the imagery data to identify a marked position of the one or more areas marked by the one or more light beams. - Comparing between the marked position of the one or more areas and an actual position of the one or more areas extracted from the mapping data. - Operating the one or more light sources, based on the comparison, to project one or more adjusted light beam markings to mark the actual position of the one or more areas. [0 012]In an optional implementation form of the first aspect, the method further comprises: - Receiving a first imagery data depicting the one or more light beam markings. - Registering the first imagery data with the construction site and in accordance with the planning data. - Analyzing the first imagery data to identify the one or more light beam markings. - Verifying compliance of the one or more light beam markings with the planned position. [0 013]In an optional implementation form of the first aspect, one or more of the light sources are operated to project one or more adjusted light beam markings for correcting one or more deviations between the one or more light beam markings and the planned position. [0 014]In an optional implementation form of the first aspect, the method further comprises, before and/or after securing together the one or more outer-formworks and the one or more corresponding inner-formwork and before applying the concrete: - Receiving a second imagery data depicting a top end of one or more of the one or more outer-formworks and of one or more corresponding inner-formworks. - Registering the second imagery data with the construction site and in accordance with the planning data. - Analyzing the second imagery data to identify an actual position of the top end of one or more of the one or more outer-formworks and the one or more corresponding inner-formworks. - |Comparing between the actual position of the top end of the one or more of the one or more outer-formworks and the one or more corresponding inner-formworks and a planned position of the top end of the one or more of the one or more outer-formworks and the one or more corresponding inner-formworks extracted from the planning data. - Verifying compliance of the actual position with the planned position of the top end. [0 015]In an optional implementation form of the first aspect, positioning of one or more of the one or more outer-formworks and the one or more corresponding inner- formworks is adjusted responsive to incompliance between the actual position and the planned position. [0 016]In an optional implementation form of the first aspect, the method further comprises, after the concrete hardens: - Removing the one or more outer-formworks and the one or more corresponding inner-formworks, thereby exposing the one or more external walls. - Receiving a third imagery data depicting at least a top end of the one or more external walls. - Registering the third imagery data with the construction site and in accordance with the planning data. - Analyzing the third imagery data to identify an actual position of the top end of the one or more external walls. - Comparing the actual position of the top end to a planned position of the top end of the one or more external walls extracted from the planning data. - Checking compliance between the actual position and the planned position of the top end of the one or more external walls, Wherein a result of the compliance check is used for evaluating further construction of a subsequent story of the structure. [0 017]In a further implementation form of the second and/or third aspects, the one or more light sources are calibrated with respect to the construction site based on triangulation according to a plurality of fixed reference points located in and/or near the construction site and recorded in the planning data. [0 018]In a further implementation form of the second and/or third aspects, the one or more light sources are calibrated in the construction site based on global navigation satellite system (GNSS) data captured by one or more GNSS sensors mechanically coupled to the one or more light sources and mapping data extracted from the planning data. [0 019]In a further implementation form of the second and/or third aspects, the one or more light sources are calibrated with respect to the construction site based on triangulation according to a plurality of radio frequency (RF) beacons located in and/or near the construction site and recorded in the planning data. [0 020]In a further implementation form of the second and/or third aspects, the one or more light sources comprise one or more laser projectors. [0 021]In an optional implementation form of the second and/or third aspects, one or more image sensors are deployed to depict at least a part of the construction site from one or more elevated positions. Wherein the one or more processors are further adapted for: - Receiving from the one or more image sensors a first imagery data depicting the one or more light beam markings on the floor of the currently constructed story. - Registering the first imagery data with the planning data. - Verifying compliance of the physical position indicated by the one or more light beam markings with the planned position for positioning the one or more outer-formworks. [0 022]In an optional implementation form of the second and/or third aspects, the one or more processors are further adapted for operating the one or more light sources to project one or more adjusted light beam markings indicating an adjusted physical position for positioning the one or more outer-formworks responsive to detecting one or more deviations between the one or more light beam markings and the planned position. [0 023]In an optional implementation form of the second and/or third aspects, the one or more processors are further adapted for: - Receiving from the one or more image sensors a second imagery data depicting a top end of the one or more outer-formworks and/or one or more corresponding inner-formworks secured to the one or more outer-formworks. - Registering the second imagery data with the planning data. - Analyzing the second imagery data to identify an actual position of the top end. - Comparing between the actual position of the top end and a planned position of the top end of one or more outer-formworks and/or the one or more corresponding inner-formworks extracted from the planning data. - Verifying compliance of the actual position with the planned position of the top end. [0 024]In an optional implementation form of the second and/or third aspects, the one or more processors are further adapted for generating one or more notifications responsive to detecting one or more deviations between the actual position and the planned position of the top end. [0 025]In an optional implementation form of the second and/or third aspects, the one or more processors are further adapted for operating the one or more light sources to project one or more adjusted light beam markings to indicate an adjusted physical position for positioning the one or more outer-formworks responsive to detecting one or more deviations between the actual position and the planned position of the top end. [0 026]In an optional implementation form of the second and/or third aspects, the one or more processors are further adapted for: - Receiving from the one or more image sensors a third imagery data depicting a top end of the one or more external walls after hardened and disposed of all frameworks. - Registering the third imagery data with the planning data. - Analyzing the third imagery data to identify an actual position of the top end. - Comparing the actual position of the top end to a planned position of the top end of the one or more external walls extracted from the planning data. - Checking compliance between the actual position and the planned position of the one or more external walls. Wherein a result of the compliance check is used for evaluating further construction of a subsequent story of the structure. [0 027]In a further implementation form of the second and/or third aspects, the first imagery data is registered with the planning data according to a plurality of fixed reference points located in and/or near the construction site which are recorded in the planning data and identified in the first imagery data. [0 028]In a further implementation form of the second and/or third aspects, one or more of the image sensors are mounted on one or more drones operated to position the one or more image sensors at the one or more elevated positions. [0 029]In a further implementation form of the second and/or third aspects, one or more of the image sensors are mounted on one or more cranes operated to position the one or more image sensors at the one or more elevated positions. [0 030]Other systems, methods, features, and advantages of the present disclosure will be or become apparent to one with skill in the art upon examination of the following drawings and detailed description. It is intended that all such additional systems, methods, features, and advantages be included within this description, be within the scope of the present disclosure, and be protected by the accompanying claims. [0 031]Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting. [0 032]Implementation of the method and/or system of embodiments of the invention can involve performing or completing selected tasks automatically. Moreover, according to actual instrumentation and equipment of embodiments of the method and/or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware or by a combination thereof using an operating system. [0 033]For example, hardware for performing selected tasks according to embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of methods and/or systems as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and/or data and/or a non-volatile storage, for example, a magnetic hard-disk and/or removable media, for storing instructions and/or data. Optionally, a network connection is provided as well. A display and/or a user input device such as a keyboard or mouse are optionally provided as well. BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS [0 034]Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars are shown by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced. [0 035]In the drawings: [0 036]FIG. 1A, FIG. 1B and FIG. 1C present a flowchart of an exemplary process of positioning formworks for casting an external wall of a structure using formworks positioned according to a light beam marking projected by one or more calibrated light sources, according to some embodiments of the present invention; [0 037]FIG. 2 is a schematic illustration of an exemplary system for positioning formworks for casting an external wall of a structure using formworks positioned according to a light beam marking projected by one or more calibrated light sources, according to some embodiments of the present invention; [0 038]FIG. 3 is a schematic illustration of an exemplary sequence for casting an external wall of a structure; [0 039]FIG. 4 is a schematic illustration of an exemplary system for positioning and monitoring a formwork for casting an external wall of a structure, according to some embodiments of the present invention; and [0 040]FIG. 5 is a flowchart of an exemplary process of accurately projecting a light beam markings marking an area in a site, according to some embodiments of the present invention. DETAILED DESCRIPTION [0 041]The present invention relates, in some embodiments thereof, to methods and systems for constructing external walls of structures, and, more specifically, but not exclusively, to positioning formworks for casting walls according to light beam markings projected by calibrated light sources to mark a position for positioning the formworks. [0 042]Construction of structures, for example, buildings in which the external walls, in whole or in part, are made of concrete is typically done by building each story on top a preceding lower story. As such, the external walls of each currently constructed story arise from a floor which is the ceiling of the preceding lower story. [0 043]As structures becomes higher and higher, proper and significantly more accurate alignment of the external walls must be maintained in order to reduce and/or prevent major impacts to the structure in terms of, for example, layout accuracy, floor area, and/or the like and even structure robustness, durability, fortitude and/or the like Moreover, impacts which are typically due to cumulative errors, deviations, and/or mistakes which are not apparent or significant in a given story of the building, but may substantially affect the structure as a whole due to their cumulative nature. [0 044]Commonly, the external walls of most or all of the stories in a structure, for example, a building are casted of concrete, typically embedded with steel re-enforcement elements using formworks which form molds for casting the walls. [0 045]Since often the same formworks may be used for construction of multiple stories of the structure, defected formworks and/or misplacement of the formworks by construction workers may incur and/or enhance cumulative errors, and/or deviations in the construction of the entire structure, for example, layout inaccuracy, incorrect floor area, opening offset (e.g., windows, balconies, etc.), and/or the like. For example, a three centimeter inward deviation of an external wall which may be insignificant for a single story may result in a 90 centimeter offset over thirty stories of the structure which may be a major and possibly severe flaw. [0 046]Such cumulative mistakes aggregated over multiple stories may lead to excessive deviation of the structure from its plan and specification which may not be noticed and/or detected until reaching high stories where the deviation may become visible, at which time it may be too late to salvage the structure without destroying at least part of it. [0 047]Therefore, in order to properly align the external walls in each story of a high-rising structure, the formworks used for casting the external walls must be properly positioned according to the planned and intended position as outlined by architectural plans, drawings and/or layout of the structure. [0 048]According to some embodiments of the present invention, there are provided methods, systems and computer program products for positioning formworks for casting external walls of structures with increased accuracy by positioning them according to light beam markings projected by one or more calibrated light sources. [0 049]A planned (intended) position for positioning one or more formworks, for example, an outer-formwork used to form a mold for casting one or more walls, for example, an external wall of a structure constructed at a construction site may be extracted from planning data relating to the structure, for example, an architectural plan, a design and/or construction drawing, a structure layout, a site layout, a construction and/or structure model, a construction site topographic map, and/or the like. [0 050]A physical position for positioning the formwork(s) may be computed based on the planned position after mapping the planning data to the construction site to map the positioning (e.g., location, elevation, orientation, rotation, etc.) of features at the site, for example, elements, objects, and/or the like with corresponding features recorded in the planning data. [0 051]One or more light sources, for example, a laser projector, and/or the like, which are calibrated with the construction site in accordance with the planning data, may be operated to project one or more light beam markings to mark the physical position for positioning the formwork(s) on a floor of a currently constructed story of the structure. [0 052]Optionally, (first) imagery data may be captured by one or more image sensors deployed at one or more elevated positions (e.g., drone, crane, etc.) to monitor at least part of the construction site. After registered with the construction site in accordance with the planning data, the first imagery data may be analyzed to identify the projected light beam marking(s) and compare the marked physical position to the planned position for positioning the outer-formwork(s). Based on the comparison, in case of deviation of the marked position from the planned position, the light source(s) may be further operated top project one or more adjusted light beam markings to correctly mark the physical position. [0 053]The outer-formwork(s) may be then positioned on the floor of the currently constructed story according to the light beam marking(s) and one or more corresponding inner-formworks may be also positioned with respect to outer-formwork(s) and the outer-formwork(s) and inner-formwork(s) may be secured to one another. [0 054]Optionally, (second) imagery data may be captured by the image sensor(s) and after registered may be analyzed to identify a top end of the outer-formwork(s) and/or inner-formwork(s) and compute its actual position (e.g., location, elevation, orientation, etc.). The actual position of the top end(s) may be compared to a planned position of the top end(s) extracted from the planning data, and in case of incompliance, one or more notifications may be generated to inform of the possible deviation. [0 055]Moreover, in case of incompliance the outer-formwork(s) and/or inner-formwork(s) may be repositioned to correct the deviation, optionally according to one or more adjusted light beam markings projected by the light source(s) operated accordingly to correct the deviation. [0 056]After the outer-formwork(s) and corresponding inner-formwork(s) are properly positioned to form a mold for the external wall(s) and concrete may be applied to create the wall(s). [0 057]Optionally, after the concrete hardens and the formworks are removed, (third) imagery data may be captured by the image sensor(s) and analyzed, after registered, to identify a top end of the wall(s). outer-formwork(s) and/or inner-formwork(s) and compute it actual position (e.g., location, elevation, orientation, etc.). The actual position of the top end of the wall may be computed and compared to a planned position of the top end of the wall extracted from the planning data. Further construction, for example, construction of a subsequent higher story may be evaluated based on a result of the comparison. [0 058]According to some embodiments of the present invention, light sources may be operated to project light beam markings to mark one or more areas relating to one or more features at a site in general, an object, an element, a surface, and/or the like which are recorded in mapping data relating to the site, for example, geographic maps, topographic maps, architectural plans, drawings, structural layouts, structure layout, site models, and/or the like. Imagery data depicting at least part of the site may be analyzed to identify the projected light beam markings and the position of the marked areas may be compared to the actual position of the areas extracted from the mapping data. in case of incompliance of the marked position and the actual position, the light sources may be further operated to project adjusted light beam markings to more accurately mark the selected areas. [0 059]Projecting light beam markings to mark the position for positioning formworks for casting concrete walls may present major advantages and benefits compared to existing methods applied to position such formworks. [0 060]First, the existing methods may typically use legacy measuring equipment, for example, measurement tools, levels, and/or the like for marking the position at which formworks should be positioned according to the planning data. This approach may involve major manual labor and besides being labor intensive and time consuming may be subject to inaccuracies which may affect the structure either during its construction and/or long after completed, for example, inaccurate dimensions, deviation from specification, and even risk of structural instability. Such methods may be also subject to major inaccuracies in the placement of formworks since placement measurements conducted in each story of the building are typically done by less qualified personnel (e.g., construction workers) using limited accuracy measurement equipment rather than by expert surveyors using high-accuracy measurement equipment. [0 061]In contrast, marking the position for positioning the formworks with light beams may be highly efficient in terms of affect and/or time since no legacy measuring methods and/or equipment are needed. Moreover, since the light sources are calibrated with the construction site and the structure in accordance with the planning data relating to the construction site, the physical position computed for positioning the formworks based on the planned position extracted from the planning data may be significantly more accurate thus reducing and possible completely eliminating the structural effects which may result from use of the existing formworks positioning methods. [0 062]Moreover, adjusting the light beam markings according to analysis of imagery data depicting the light beam markings and comparison of the marked position with the planned position extracted from the planning data may further increase accuracy of the marked position thus significantly increasing accuracy of the formworks positioning and eventually increasing compliance of the casted concrete walls with the plan of the structure. This is because the imagery data may be easily registered with the construction site in accordance with the planning data thus accurately synchronizing (aligning, orienting, etc.) between real-world features at the construction site and their description, representation and/or expression in the planning data. Furthermore, since the imagery data needs to be captured at specific short time intervals and the imagery data may be easily registered with the construction site, the image sensor(s) may need to be deployed at the elevated point(s) only when needed. For example, assuming the image sensor(s) is mounted on a drone, the drone may be operated to the elevated position(s) only when needed while for the rest of the time it may be safely stored and/or used for one or more other tasks, and/or missions. [0 063] Furthermore, by comparing between the marked position marked by the projected light beam markings, identified in the simple to register imagery data, and the planned position, may redundant the need for accurately calibrating the projecting light sources with the construction site and in accordance with the planning data which may be more complex. As such, effort, time, cost, and/or complexity involved with calibrating the light sources may be significantly reduced since the light sources may be deployed and adapted to project light beams in a roughly set direction, and adjustment of the light beam markings to accurately mark the physical position for positioning the formworks may be done based on the imagery data depicting the projected light beam markings. [0 064]In addition, verifying the actual position of the top ends of the formworks after positioned according to the light beam markings and, in case of incompliance, adjusting the positioning of the formworks may further increase accuracy of the formworks positioning and as result significantly increase compliance of the casted concrete wall with the structure plan. [0 065]Finally, checking the actual position of the top end of the casted concrete wall after hardened may enable detection of incompliance and/or deviation of the wall from the structure plan. Identifying and evaluating such deviations early on and possibly in real-time during the construction of the structure, may enable taking one or more actions accordingly to correct, compensate and/or overcome the detected deviations. Moreover, since typically the same formworks are used to cast the walls in each story of the high-rising structure, with the construction of each additional story, defected formworks may lead to a cumulative deviation dragged with each additional story. By detecting a deviation in the positioning of the formworks and the positioning of the walls may reduce and possibly eliminate such cumulative errors. [0 066]Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways. [0 067]As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, aspects of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "module" or "system." Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. [0 068]Any combination of one or more computer readable medium(s) may be utilized. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire. [0 069]Computer program code comprising computer readable program instructions embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing. [0 070]The computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device. [0 071]The computer readable program instructions for carrying out operations of the present invention may be written in any combination of one or more programming languages, such as, for example, assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. [0 072]The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention. [0 073]Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. [0 074]The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions. [0 075]Referring now to the drawings, FIG. 1A, FIG. 1B and FIG. 1C present a flowchart of an exemplary process of positioning formworks for casting an external wall of a structure using formworks positioned according to light beam marking projected by one or more calibrated light sources, according to some embodiments of the present invention. [0 076]An exemplary process 100 may be executed to position one or more formworks casting one or more walls, for example, external walls of a structure constructed at a construction site, typically a high-rising structure, for example, a multi-story building comprising a plurality of stories. [0 077]In particular, one or more light sources may be operated to project one or more light beam markings to mark a physical position for positioning the formwork(s) which is computed based on a planned position for positioning the formwork(s) extracted from planning data relating to the structure. [0 078]In order to accurately mark the physical position for positioning the outer- formwork(s), the light source(s) may be calibrated with respect to the construction site in accordance with the planning data such that the physical position may be accurately computed based on the planned position. [0 079]Optionally, imagery data, captured by one or more image sensors deployed at one or more elevated positions to depict at least part of the construction site, may be analyzed to verify the positioning of the formwork(s), and/or compliance of the external wall casted using the formworks. [0 080]Reference is also made to FIG. 2, which is a schematic illustration of an exemplary system for positioning formworks for casting an external wall of a structure using formworks positioned according to light beam marking projected by one or more calibrated light sources, according to some embodiments of the present invention. [0 081]An exemplary formworks positioning system 200 may be deployed to support positioning of one or more formworks for casting one or more walls, in particular, external walls of a structure 202 at a construction site 204. [0 082]In particular, the structure 202 may be a high-rising structure, for example, a building comprising a plurality of stories (e.g., > 10 stories) which is constructed of a concrete skeleton (frame) meaning that at least its floors and at least some of its external walls are made of concrete. Moreover, the external walls of the high-rising concrete based structure 202 may be constructed by applying concrete into molds formed by formworks to cast the external walls. [0 083]The formworks positioning system 200 may operate one or more light sources 210 to project light beam markings to mark physical positions for positioning one or more formworks, in particular, outer-formworks used for casting one or more walls, for example, external walls of the structure 202. [0 084]The light sources 210 may employ one or more light projection technologies, methodologies, and/or designs. For example, the light source(s) 210 may include one or more laser projectors adapted to project one or more laser beams to form one or more light beam markings. In another example, the light source(s) 210 may include one or more infrared (IR) light sources adapted to project one or more light beams in one or more IR spectrums (spectral ranges), for example, Near IR, Short-wavelength infrared (SWIR), Mid-wavelength infrared, Long-wavelength infrared, Far infrared, and/or the like. In another example, the light source(s) 210 may include one or more Ultra Violet (UV) light sources adapted to project one or more light beams in one or more UV spectrums. [0 085]Optionally, one or more image sensors 212 may be deployed at one or more elevated positions to depict at least part for the construction site such that imagery data captured by the image sensor(s) 212 may be analyzed to identify the light beam markings, the formwork(s), and/or the external wall(s) casted using the formworks. [0 086]The image sensors 212 may employ one or more imaging technologies, methodologies, and/or designs. For example, the image sensor(s) 212 may include one or more visible light image sensors, for example, a camera, a video camera, and/or the like adapted to capture imagery data in the visible light spectrum (spectral range). In another example, the image sensor(s) 212 may include one or more IR image sensors adapted to capture imagery data in one or more IR spectrums, for example, Near IR, SWIR, Mid-wavelength infrared, Long-wavelength infrared, Far infrared, and/or the like. In another example, the image sensor(s) 212 may include one or more thermal image sensors adapted to generate heat maps indicative of heat variation in the captured scene. [0 087]The formworks positioning system 200, for example, a device, an apparatus, a computer, a server, a computing node, and/or the like may include an Input/Output (I/O) interface 220, a processor(s) 222, and a storage 224 adapted for storing data and/or computer program code (program store). [0 088]The I/O interface 220 may include one or more wired and/or wireless I/O interfaces, ports and/or interconnections, for example, a discrete line interface, a General Purpose I/O (GPIO) port, a serial port, a Universal Serial Bus (USB) port, a Bluetooth (BT) interface, a Radio Frequency (RF) interface, Wireless Local Area Network (WLAN, e.g. Wi-Fi), and/or the like. [0 089]Via the I/O interface 220, the formworks positioning system 200 may communicate with one or more external devices. For example, via the I/O interface 220, the formworks positioning system 200 may operate one or more light sources 210 to project one or more light beams. In another example, via the I/O interface 220, the formworks positioning system 200 may receive imagery data from one or more image sensor(s) 212. [0 090]Moreover, the I/O interface 220 may optionally include one or more wired and/or wireless network interfaces for connecting to a network 240 comprising one or more wired and/or wireless networks, for example, a Local Area Network (LAN), a WLAN (e.g. Wi-Fi), a Wide Area Network (WAN), a Metropolitan Area Network (MAN), a cellular network, the internet and/or the like. [0 091]Via the I/O interface 220, the mapping system 200 may therefore communicate, over the network 240, with one or more remote network resources 242, for example, a server, a storage server, a cloud service, and/or the like. [0 092]The processor(s) 222, homogenous or heterogeneous, may include one or more processing nodes arranged for parallel processing, as clusters and/or as one or more multi core processor(s). The storage 224 may include one or more non-transitory memory devices, either persistent non-volatile devices, for example, a ROM, a Flash array, a hard drive, an SSD, and/or the like as well as one or more volatile devices, for example, a RAM device, a cache memory and/or the like. [0 093]The processor(s) 222 may execute one or more software modules, for example, a process, a script, an application, an agent, a utility, a tool, an Operating System (OS), a service, a plug-in, an add-on and/or the like each comprising a plurality of program instructions stored in a non-transitory medium (program store) such as the storage 2and executed by one or more processors such as the processor(s) 212. [0 094]Optionally, the processor(s) 222 may include, utilize and/or apply one or more hardware elements available in the formworks positioning system 200, for example, a circuit, a component, an Integrated Circuit (IC), an Application Specific IC (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signals Processor (DSP), a Graphic Processing Unit (GPU), and/or the like. [0 095]The processor(s) 222 may therefore execute one or more functional modules utilized by one or more software modules, one or more of the hardware modules and/or a combination thereof. For example, the processor(s) 222 may execute a positioning engine 230 configured to execute the process 100 for positioning one or more formworks, specifically outer-formworks for casting one or more external wails of the structure 202. It should be noted that the steps of the process 100 executed by the formworks positioning system 200, specifically by the positioning engine 220, may be executed by any of one or more processors of the processor(s) 212 such that any one of the processors of the processor(s) 212 may execute the process 100 and/or part thereof or optionally not participate in execution of the process 100. [0 096]Optionally, while non-typical, the formworks positioning system 200, specifically the positioning engine 220 may be provided, executed and/or utilized at least partially by one or more cloud computing services, for example, Infrastructure as a Service (IaaS), Platform as a Service (PaaS), Software as a Service (SaaS), and/or the like provided by one or more cloud services, cloud infrastructures, and/or the like such as, for example, Google Cloud, Microsoft Azure, Amazon Web Service (AWS) and Elastic Compute Cloud (EC2), IBM Cloud, and/or the like. [0 097]In such case, the positioning engine 220 may communicate, over one or more networks such as the network 240, with the light source(s) 210 and the image sensor(s) 212, and/or one or more local controller deployed on-site at the construction site 204 to operate one or more light sources 210 and/or receive imagery data captured by one or more image sensors 212. [0 098]Reference is now made to FIG. 3, which is a schematic illustration of an exemplary sequence for casting an external wall of a structure. [0 099]An exemplary structure 300 such as the structure 202, for example, a high-rising structure may comprise a plurality of stories 310 having a frame (skeleton) mostly constructed of concrete meaning that a floor of a story 310 and at least some of the walls of each story, for example, at least some external walls are made of concrete. [0 100]Such concrete based high-rising structure 300 may be built by building each story 310 over a previous lower story 310 where the ceiling of each story 310 is a floor 312 of a subsequent higher story 310. After completing construction of the ceiling of a certain story 310, for example, a story 310(N-1), a subsequent story 310 may be constructed, for example, a story 310(N). [0 101]The external walls of each story 310 may thus arise from the floor 312 of the respective story 310. [0 102]As known in the art, constructing one or more external walls of one or more, and typically most of the stories 310 of a high-rising concrete high-rising structure 3may be typically done using formworks deployed and positioned on the floor 312 to form a mold into which concrete is applied. After the concrete hardens and becomes concrete, the formworks may be removed to expose the wall. [0 103]It should be noted, that this disclosure is directed to positioning the formworks, the actual construction of the walls, as well as other parts of the structure 300 are beyond the scope of this invention. [0 104]As shown at illustration 302, a formwork, specifically an outer-formwork 3may be provided for casting an external wall of the story 310(N) of the structure 300. [0 105]As shown at illustration 304, the outer-formwork 320 may be positioned at a designated position according to planning data relating to the structure 300, for example, an architectural plan, drawings, structure layout, construction and/or structure models, construction site topographic maps, and/or the like. [0 106]As shown at illustration 306, another formwork 320, specifically a corresponding inner-formwork 322 may be deployed and positioned at a designated position with respect to the outer-formwork 320. [0 107]The outer-formwork 320 and the inner-formwork 322 may be then secured to one another using one or more securing methods, means, and/or technologies which are beyond the scope of this disclosure. [0 108]One or more additional elements may be further deployed, connected, and/or attached to the outer-formwork 320 and/or inner-formwork 322 to form a mold for the external wall and concrete may be applied into the mold formed between the outer-formwork 320 and inner-formwork 322. [0 109]As shown at illustration 308, after the concrete hardens, the outer-formwork 320 and the inner-formwork 322 may be removed to expose the formed external wall 326. [0 110]Reference is also made to FIG. 4, which is a schematic illustration of an exemplary system for positioning and monitoring a formwork for casting an external wall of a structure, according to some embodiments of the present invention. [0 111]An exemplary structure such as the structure 202 or 300 may comprise a plurality of stories such a s the stories 310. A currently constructed story 310(N) is constructed on top a preceding lower story 310(N-1). In particular, one or more external walls of the story 310(N) arising from a floor 312 of the story 310(N) may be constructed of concrete using work forms placed and positioned to form respective molds for the external walls. [0 112]One or more light sources such as the light source 210 may be deployed to project one or more light beam markings to mark positioning of one or more formworks, for example, an outer-formwork such as the outer-formwork 320 used for casting one or more walls, specifically external walls of the story 310(N). [0 113]Moreover, one or more image sensors such as the image sensor 212 may be deployed to monitor a construction site such as the construction site 204 in which a structure such as the structure 300 is constructed. In particular, the image sensors 212 may deployed at one or more elevated positions from where they may capture imagery data depicting at least part of the construction site 204, specifically at least part of the structure 300, and more specifically the currently constructed story 310(N). [0 114]The image sensors 212 may be deployed according to one or more deployment schemes, and/or technologies. For example, one or more image sensors 212 may be mounted on one or more drones 402 which may be operated to position their mounted image sensor(s) 212 at one or more elevated positions. The drone mounted image sensor(s) 212 may thus monitor the construction site 204 from the elevated position and capture imagery data depicting at least part of the construction site 204. In another example, one or more image sensors 212 may be mounted on one or more cranes 404 deployed at the construction site 204 which may be operated to position their mounted image sensor(s) 212 at one or more elevated positions. The carne mounted image sensor(s) 212 may thus monitor the construction site 204 from the elevated position(s) and capture imagery data depicting at least part of the construction site 204. [0 115]Reference is made once again to FIG. 1. [0 116]For brevity, the process 100 is described for positioning a single formwork, specifically a single outer-formwork used for casting a single external wall. This, however, should not be construed as limiting since, as may become apparent to a person skilled in the art, the process 100 may be repeated, extended and/or scaled for positioning a plurality of outer-formworks which may be used for casting one or more external walls of one or more stories 310. [0 117]As shown at 102, the process 100 starts with the positioning engine 2receiving planning data relating to construction of a structure such as the structure 2and 300, designated structure 300 for brevity, at a construction site such as the construction site 204. [0 118]The positioning engine 230 may receive the planning data from one or more sources. For example, the positioning engine 230 may fetch the planning data and/or part thereof from a local storage of the formworks positioning system 200, for example, the storage 224. In another example, the positioning engine 230 may communicate via the network 240 with one or more remote network resources 242, for example, a remote server, a remote database, a cloud storage service, and/or the like to receive the planning data and/or part thereof. [0 119]The planning data, for example, an architectural plan, a structure plan, a floor drawing, a site layout, a structure layout, a construction and/or structure model, and/or the like may comprise mapping data, design data, specification, and/or the like relating to the construction site 204, to the structure 300, and/or the like. [0 120]The planning data may comprise, for example, a layout of the stories 310 of the structure 300 which may detail dimensions of one or more elements in the structure 300, for example, a floor, a wall, a surface, a door opening, a window opening, a stairway, a stair, an elevator peer, a perimeter, a parking lot, and/or the like. In another example, the planning data may comprise a positioning of one or more of the elements in the structure 300, for example, a location, an elevation, an orientation, a rotation, and/or the like. In another example, the planning data may comprise positioning information for positioning one or more formworks which may be deployed and positioned for casting one or more elements in the structure 300, specifically concrete casted elements, such as, for example, a wall, a floor, an elevator peer, and/or the like. [0 121]As shown at 104, the positioning engine 230 may extract a planned position for deploying, placing and positioning one or more formworks, specifically outer-formworks such as the formwork 320 for casting one or more walls, specifically external walls arising from the floor 312 of a currently constructed story 310, for example, the story 310(N). [0 122]The planned position of the outer-formwork(s) may define one or more positioning parameters, attributes, and/or aspect for positioning the outer-formwork(s), for example, a location, an elevation, an orientation (e.g., tilt angle, yaw angle, etc.), and/or the like. [0 123]As shown at 106, the positioning engine 230 may compute a physical position for positioning the outer-formwork(s). In particular, the positioning engine 230 may compute the physical position with respect to the floor 312 of the currently constructed story 310(N). [0 124]The positioning engine 230 may compute the physical position based on mapping of the planning data relating to the currently constructed story 310(N) to the actual currently constructed story 310(N). For example, the positioning engine 230 may orient the planning data according to the actual scene at the currently constructed story 310(N) such that elements in the structure 300 which are defined in the planning data may be mapped to corresponding actual elements in the currently constructed story 310(N). In another example, the positioning engine 230 may translate dimensions of elements in the structure 300 which are defined in the planning data to actual dimensions of corresponding elements in the currently constructed story 310(N) according to a predefined ratio reflected by the planning data. [0 125]As shown at 108, the positioning engine 230 may operate one or more light sources 310 to project one or more light beam markings to mark the physical position for positioning the outer-formwork(s). [0 126]For example, as seen in FIG. 4, the positioning engine 230 may operate the light source(s) 310 to project a light beam marking 410 (marked by a dashed line), for example, on the floor 312 of the currently constructed story 310(N). [0 127]The light beam marking 410 may comprise one or more patterns, designs and/or visual attributes, for example, a line, a dot, an edge marker, and/or the like which may accurately, reliably and deterministically indicate the physical position for positioning the outer-formwork(s). [0 128]The light source(s) 210 may be placed at one or more locations in the construction site 204, typically in a static manner, to effectively project beam light markings marking the physical position for positioning the outer-formworks. For example, one or more of the light source(s) 210 may be mounted on one or more tripods placed on the floor 312 of the currently constructed story 310(N). In another example, one or more of the light source(s) 210 may be statically mounted and secured to a crane, specifically a non-moving part of the crane, erected at the construction site 204. [0 129]Operating the light source(s) 210 to project light beam markings at a desired area, location, and/or the like may be done as known in the art. For example, one or more light sources 210 may comprise a dynamically moveable, and/or adjustable light projection head which may be operated to direct the projected light beams at desired direction, for example, an angle (e.g., tilt, yaw, roll, etc.) optionally at a desired intensity. In another example, one or more light sources 210 may be constructed of joints which are dynamically moveable by one or more actuators such that light beams projected by a projections head of the respective light source 210 which may be fixed, may be directed at a desired direction, angle, and/or the like. [0 130]In order to ensure that the light beam marking(s) 410 projected by the light source(s) 210 accurately mark the physical position for positioning the outer-formwork(s), the light source(s) 210 may be calibrated with respect to the construction site 204 and in accordance to the planning data. [0 131]This means that the light source(s) 210 may be placed, positioned, and calibrated to align with the physical scene at the construction site in accordance with the planning data such that when operated, the light beam marking(s) 410 projected by the light source(s) 210 may mark the physical position which is computed according to the planned position. [0 132]One or more methods, techniques, and/or algorithms may be applied for calibrating the light source(s) 210 with respect to the construction site 204 and in accordance to the planning data. [0 133]For example, one or more light source(s) 210 may be calibrated with respect to the construction site 204 based on triangulation, as known in the art, according to a plurality of fixed reference points (e.g., three or more) located in and/or near the construction site 204 and are recorded in the planning data. One or more of the reference points (also designated fiducials in the art) may be dedicated markings, elements and/or objects, for example, a pole, a structure, a metal construction, a painted mark, and/or the like. In another example, more of the reference points may be existing elements, and/or objects, for example, a power line pole, a neighboring structure, and/or the like which are located in and/or near the construction site 204 and may be [0 134]Optionally, one or more of the light sources 210 may be calibrated by positioning and/or orienting them according to beam light markings 410 projected by one or more other light sources (calibration light sources) such as the light source 2positioned at one or more elevated positions from which at least a subset (e.g., three or more) of the plurality of fixed reference points are visible (line of sight) and may be thus used for accurately calibrating the calibration light source(s). [0 135]In another example, one or more light source(s) 210 may be calibrated with respect to the construction site 204 based on Global Navigation Satellite System (GNSS) data (e.g., Global Positioning System (GPS), Galileo, etc.) captured by one or more GNSS sensors mechanically coupled to the respective light source 210 and mapping data extracted from the planning data. For example, based on the GNSS data, a certain light source 210 may be placed at a specific location in the construction site corresponding to a certain location mapped in the planning data. In another example, multiple GNSS sensors, for example, three, may be mechanically coupled to different parts of a certain light source(s) 210 such that the light source may be oriented with respect to the multiple GNSS sensors according to their captured GNSS data. [0 136]In another example, one or more light source(s) 210 may be calibrated with respect to the construction site 204 based on triangulation according to a plurality of Radio Frequency (RF) beacons located in and/or near the construction site 204 and recorded in the planning data. For example, multiple RF beacons, for example, three or more, may be placed at predefined locations in the construction site and recorded accordingly in the planning data. RF signals transmitted according to one or more protocols may be intercepted by one or more RF receivers mechanically coupled to a respective light source 210 and the light source 210 may be placed, positioned and/or oriented according to the intercepted RF beacon signals using triangulation as known in the art. [0 137]Optionally, the positioning engine 230 may execute a sub-process 160 of the process 100, comprising optional steps 110-118 to verify compliance of the physical position marked by the light beam marking(s) 410 projected by the light source(s) 2with the planned position of the outer-formwork(s) extracted from the planning data. [0 138]As shown at 110, the positioning engine 230 may receive imagery data, designated first imagery data, for example, one or more images, a video stream, one or more heat maps, and/or the like captured by one or more image sensors 212 monitoring at least part of the construction site 204. [0 139]In particular, the first imagery data may depict the light beam marking(s) 4projected by the light source(s) 210 to mark the physical position for positioning the outer-formwork(s). [0 140]As shown at 112, the positioning engine 230 may register the first imagery data with the construction site 204 and in accordance with the planning data. [0 141]The first imagery data may be registered, for example, by the positioning engine 230 using one or more registration methods, techniques, and/or algorithms, as known in the art. For example the first imagery data may be registered with respect to the construction site 204 and in accordance with the planning data according to a plurality of fixed reference points, such as the previously describe reference points, located in and/or near the construction site 204 which are recorded in the planning data and identified in the first imagery data. Registration of imagery data with respect to the construction site 204 and in accordance with the planning data according to the plurality of fixed reference points may be done as known in the art and is beyond the scope of the present disclosure. [0 142]As shown at 114, the positioning engine 230 may analyze the first imagery data to identify the light beam marking(s) 410 projected by the light source(s) 210. [0 143]The positioning engine 230 may analyze the first imagery data using one or more methods, techniques, and/or algorithms as known in the art, for example, computer vision, image processing, visual classifiers, machine learning models, which are beyond the scope of the present disclosure. [0 144]The positioning engine 230 may further analyze the first imagery data to identify the physical position for positioning the outer-formwork(s) 230 which is computed based on the planned position for positioning the outer-formwork(s) 2which is extracted from the planning data. [0 145]As shown at 116, which is a conditional step, the positioning engine 230 may compare between the physical position marked by the light beam marking(s) 4projected by the light source(s) 210 and the planned position to check compliance of the physical position indicated by the projected light beam marking(s) 410 with the planned position. [0 146]In case the physical position indicated by the light beam marking(s) 4complies with, e.g., matches the planned position, the process may branch to step 1as indicated by off-page marker "A". Otherwise, in case of non-compliance, the process 100 may branch to 118. [0 147]As shown at 118, since the physical position marked by the light beam marking(s) 410 projected by the light source(s) 210 does not comply (match) with the planned position extracted for the outer-formwork(s) from the planning data, the positioning engine 230 may operate one or more of the light source(s) 210 to project one or more adjusted light beam markings 410 for correcting one or more deviations identified between the light beam marking(s) and the planned position. [0 148]The sub-process 160 may be an iterative process comprising multiple iterations. Following adjustment of the light beam marking(s) 410 (step 118), the positioning engine 230 may branch back to 110 to initiate another iteration and receive updated first imagery data depicting the adjusted light beam marking(s) 410. The positioning engine 230 may check compliance of the physical position marked by the adjusted light beam marking(s) 410 with the planned position (step 116). [0 149]Optionally, the iterative process 160 may be stopped and branch to step 120 in case a certain number of iterations is reached even if the physical position marked by the projected light beam marking(s) 410 does not fully comply with the planned position. [0 150]As shown at 120, the outer-formwork(s) 320 may be positioned according to the projected on the floor 312 of the currently constructed story 310(N). The actual positioning of the outer-formwork(s) 320 may be done as known in the art and is beyond the scope of the present disclosure. [0 151]As shown at 122, one or more inner-formworks such as the inner-formworks 322 corresponding to the outer-formwork(s) 320 may be positioned with respect to the outer-formwork(s) 320 as known in the art and is out of scope of the present disclosure. [0 152]As shown at 124, the outer-formwork(s) 320 and the corresponding inner-formwork(s) 322 may be secured to one another using one or more secure means, techniques, technologies, and/or methods as known in the art and which are out of scope of the present disclosure. [0 153]Optionally, after the outer-formwork(s) 320 and its corresponding inner-formwork(s) 322 are positioned, the positioning engine 230 may execute another sub-process 162 of the process 100, comprising optional steps 126-134 to verify compliance of an actual position of a top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 with a planned position of these top ends extracted from the planning data. [0 154]As shown at 126, the positioning engine 230 may receive imagery data, designated second imagery data, for example, one or more images, a video stream, one or more heat maps, and/or the like captured by one or more image sensors 2monitoring at least part of the construction site 204. [0 155]In particular, the second imagery data may depict a top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322. [0 156]As shown at 128, the positioning engine 230 may register the second imagery data with the construction site 204 and in accordance with the planning data using one or more registration methods, techniques, and/or algorithms as described herein before. [0 157]As shown at 130, the positioning engine 230 may analyze the second imagery data to identify the actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322. [0 158]Optionally, the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 may be pre-marked with visible markings which may be easily, accurately, and/or reliably identified in the second imagery data. The positioning engine 230 analyzing the second imagery data may therefore detect the pre-marked markings and may compute accordingly the actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 with increased accuracy, reliability, and/or robustness. [0 159]As shown at 132, which is a conditional step, the positioning engine 230 may compare between the actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 and a planned position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 extracted from the planning data. [0 160]In case the actual position complies with, e.g., matches the planned position, the process may branch to step 136 as indicated by off-page marker "B". Otherwise, in case of non-compliance, the process 100 may branch to 134. [0 161]As shown at 134, responsive to detecting one or more deviations between the actual position of the top end of outer-formwork(s) 320 and/or the inner-formwork(s) 322 leading to incompliance between the actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322 with the planned position extracted for top end from the planning data, the positioning engine 230 may generate one or more notifications indicative of the deviations. [0 162]Optionally, the outer-formwork(s) 320 and/or the inner-formwork(s) 322 may be repositioned, for example, relocated, re-oriented, rotated, elevated, and/or the like according to the deviation(s) notified by the positioning engine 230. [0 163]Optionally, due to the deviation between the actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322, the process 100 may branch back to 110, to initiate one or more iterations of the sub-process 160 in which the positioning engine 230 may operate the light source(s) 210 to projected adjusted light beam marking(s) 410 to mark the physical position of the outer-formwork(s) 3and/or the inner-formwork(s) 322 in attempt to actuary reposition them such that the actual position of their top end complies with the planned position. [0 164]Optionally, the sub-process 162 may be an iterative process comprising multiple iterations wherein after the outer-formwork(s) 320 and/or the inner-formwork(s) 3are re-positioned, the positioning engine 230 may branch back to 126 to initiate another iteration and receive updated second imagery data depicting an adjusted actual position of the top end of the outer-formwork(s) 320 and/or the inner-formwork(s) 322. The positioning engine 230 may check again compliance between the actual position and the planned position (step 132) and take action again, i.e., generate notification(s) in case of detecting deviation(s). [0 165]As shown at 136, after the outer-formwork(s) 320 and the inner-formwork(s) 322 are properly positioned in their designated positions, concrete may be applied into the mold formed by the outer-formwork(s) 320 and its corresponding inner-formwork(s) 322. Application of concrete including materials, procedures, means, and/or the like may be done as known in the art and is out of scope of the present disclosure. [0 166]As shown at 138, the concrete is treated as known in the art until it hardens to form an external wall such the external wall 326. [0 167]As shown at 140, after the concrete is hardened the outer-formwork(s) 320 and its corresponding inner-formwork(s) 322 may be removed to expose the external wall 326. [0 168]Optionally, after the external wall 326 is exposed, the positioning engine 2may execute another sub-process 164 of the process 100, comprising optional steps 142-150 to verify compliance of an actual position of the external wall 326 with a planned position of this external wall 326 extracted from the planning data. [0 169]As shown at 142, the positioning engine 230 may receive imagery data, designated third imagery data, for example, one or more images, a video stream, one or more heat maps, and/or the like captured by one or more image sensors 212 monitoring at least part of the construction site 204. [0 170]In particular, the third imagery data may depict a top end of the external wall 326. [0 171]As shown at 144, the positioning engine 230 may register the third imagery data with the construction site 204 and in accordance with the planning data using one or more registration methods, techniques, and/or algorithms as described herein before. [0 172]As shown at 146, the positioning engine 230 may analyze the third imagery data to identify an actual position of a top end of the external wall 326. [0 173]As shown at 148, the positioning engine 230 may compare between the actual position of the top end of the of the external wall 326 and the planned position of the top end of the of the external wall 326 extracted from the planning data. [0 174]As shown at 150, further construction of the structure 300 may be evaluated based on a result of the compliance analysis between the actual position of the top end of the external wall 326 and the planned position. [0 175]For example, construction of a subsequent higher story 310(N+1) may be evaluated based on the compliance check and analysis. For example, assuming the positioning engine 230 determines and notifies accordingly that the top end of the external wall 326 significantly and/or sufficiently complies with the planned position of the top end of the external wall 326, construction of the subsequent higher story 310(N+1) may continue as planned. [0 176]However, in case the top end of the external wall 326 does not comply with the planned position and significantly deviates from it, one or more actions may be taken to overcome such deviation(s) and/or their implications. For example, assuming the top end of the external wall 326 is slightly offset outwards compared to the planned position, one or more external walls such as the external wall 326 of the subsequent story 310(N+1) may be constructed to compensate for the offset of the external wall 326 of the story 310(N). [0 177]According to some embodiments of the present invention, the process 1and/or part thereof may be generalized to a site which is a generalization of the contraction site 204 where the generalized site is associated with mapping data relating to the site mapping static elements, objects, and/or the like located in the site which is a generalization of the planning data relating to the structure constructed at the constructions site 204. [0 178]Reference is no made to FIG. 5, which is a flowchart of an exemplary process of accurately projecting light beam markings marking an area in a site, according to some embodiments of the present invention. [0 179]An exemplary process 500 may be executed by a positioning engine such as the positioning engine 230 to operate one or more light sources such as the light source 2to project one or more light beam markings to mark one or more areas in the site. Imagery data captured by one or more image sensors such as the image sensor 212 may be then analyzed to identify the light beam marking(s) and compare between a marked position of the area(s) marked by the light beam marking(s) and an actual position of the area(s) extracted from mapping data of the site. In case of non-compliance, i.e., deviation between the marked position and the actual position, the light source(s) 2may be further operated to project one or more adjusted light beam markings to mark the actual position of the area(s). [0 180]The positioning engine 230 executing the process 500 may be executed by one or more positioning systems each comprising an I/O interface such as the I/O interface 220 for operating the light source(s) 210, receiving imagery data from the image sensor(s) 212 and optionally communicating with one or more remote network resources such as the network resource 242, a processor(s) such as the processor(s) 222, and a storage such as the stoppage 224 for storing data and/or code (program store). [0 181]As shown at 502, the process 500 starts with the positioning engine 230 receiving mapping data relating a certain site, for example, an urban area, an open area (e.g., countryside, wood, field, nature, etc.,), an indoor premises (e.g., structure, mall, stadium, building, etc.), and/or the like. [0 182]The mapping data may comprise, for example, geographic maps, topographic maps, architectural plans, drawings, structural layouts, structure layout, site models, and/or the like. The type of mapping data may obviously depend on the nature of the site. For example, the mapping data of an open nature site may comprise, for example, one or more graphic maps, topographic maps, and/or the like while the mapping data of an urban site may comprise, for example, one or more street maps, structural maps, topographic maps, and/or the like and the mapping data of an indoor site may comprise, for example, one or more structural layouts, architectural plans, drawings, and/or the like. [0 183]As shown at 504, the positioning engine 230 may operate one or more light sources 210, for example, a laser projector, an IR lamp, and/or the like to project one or more light beam markings to mark one or more selected areas in the site. [0 184]In particular, the light source(s) 210 may be operated to project light beam marking(s) to mark one or more selected areas relating to static objects, elements, surfaces, and/or the like in the site which are mapped in the mapping data relating to the site. For example, a certain selected area may comprise a certain feature of a certain structure located in a certain urban site which is mapped in mapping data relating to the certain urban site. In another example, a certain selected area may comprise a certain natural feature located in a certain countryside site which is mapped in mapping data relating to the certain countryside site. [0 185]As shown at 506, the positioning engine 230 may receive imagery data, for example, one or more images, a video stream, one or more heat maps, and/or the like captured by one or more image sensors 212 monitoring at least part of the site. [0 186]In particular, the imagery data may depict the light beam marking(s) projected by the light source(s) 210 to mark the selected area(s) in the site. [0 187]As shown at 508, the positioning engine 230 may register the imagery data with the site and in accordance with the mapping data. [0 188]The positioning engine 230 may employ one or more registration methods, techniques, and/or algorithms, as known in the art for registering the imagery data. For example, the positioning engine 230 may register the imagery data with the site and in accordance with the mapping data according to a plurality of static reference points recorded in the mapping data and identified in the imagery data as known in the art. [0 189]As shown at 510, the positioning engine 230 may analyze the imagery data to identify the light beam marking(s) projected by the light source(s) 210. [0 190]As described herein before, the positioning engine 230 may analyze the imagery data using one or more methods, techniques, and/or algorithms as known in the art, for example, computer vision, image processing, visual classifiers, machine learning models, which are beyond the scope of this disclosure. [0 191]As shown at 512, the positioning engine 230 may compare between the marked position marked by the light beam marking(s) projected by the light source(s) 210 and the actual position of the selected area(s) extracted from the mapping data. [0 192]As shown at 514, the positioning engine 230 may further operate one or more of the light source(s) 210 based on the comparison to project one or more adjusted light beam markings to mark the actual position of the selected area(s). [0 193]This means that responsive to detecting incompliance of the marked position of one or more of the selected area(s) with the actual position of the respective selected area(s),, i.e., deviation, the positioning engine 230 may operate the light source(s) 2to project adjusted light beam marking(s) correcting the detected deviation(s) and accurately marking the selected area(s). [0 194]As seen at 516, the process 500 may be an interactive process in which in each iteration, following the adjustment of the light beam marking(s), the positioning engine 230 branch back to 506 to receive updated imagery data captured by the image sensor(s) 212 and analyze the updated imagery data (510), after registered (508), to identify the adjusted light beam marking(s) and compare the marked position of the selected area(s) to their actual position extracted from the mapping data. Based on the comparison, the positioning engine 230 may initiate one or more additional iterations. [0 195]The descriptions of the various embodiments of the present invention have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. [0 196]It is expected that during the life of a patent maturing from this application many relevant systems, methods and computer programs will be developed and the scope of the terms light source, image sensor, calibration, and imagery data registration, are intended to include all such new technologies a priori. [0 197]As used herein the term "about" refers to ± 10 %. [0 198]The terms "comprises", "comprising", "includes", "including", "having" and their conjugates mean "including but not limited to". This term encompasses the terms "consisting of" and "consisting essentially of". [0 199]The phrase "consisting essentially of" means that the composition or method may include additional ingredients and/or steps, but only if the additional ingredients and/or steps do not materially alter the basic and novel characteristics of the claimed composition or method. [0 200]As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. For example, the term "a compound" or "at least one compound" may include a plurality of compounds, including mixtures thereof. [0 201]The word "exemplary" is used herein to mean "serving as an example, an instance or an illustration". Any embodiment described as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments and/or to exclude the incorporation of features from other embodiments. [0 202]The word "optionally" is used herein to mean "is provided in some embodiments and not provided in other embodiments". Any particular embodiment of the invention may include a plurality of "optional" features unless such features conflict. [0 203]Throughout this application, various embodiments of this invention may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range. [0 204]Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases "ranging/ranges between" a first indicate number and a second indicate number and "ranging/ranges from" a first indicate number "to" a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals there between. [0 205]It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements. [0 206]Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims. [0 207]It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is/are hereby incorporated herein by reference in its/their entirety.

Claims (23)

1. WHAT IS CLAIMED IS: 1. A method of constructing an external wall of a story of a structure, comprising: receiving planning data relating to construction of the structure at a construction site; extracting from the planning data a planned position for positioning at least one outer-formwork for casting at least one external wall arising from a floor of a currently constructed story; operating at least one light source for projecting at least one light beam marking indicating a physical position for positioning the at least one outer-formwork, the at least one light source is calibrated with respect to the construction site and in accordance to the planning data; positioning the at least one outer-formwork according to marked physical position; positioning at least one corresponding inner-formwork; securing the at least one outer-formwork and the at least one corresponding inner-formwork to one another; and applying concrete between the at least one outer-formwork and the at least one inner-formwork to form the at least one external wall.

2. The method of claim 1, further comprising: receiving a first imagery data depicting the at least one light beam marking, registering the first imagery data with the construction site and in accordance with the planning data, analyzing the first imagery data to identify the at least one light beam marking, and verifying compliance of the at least one light beam marking with the planned position.

3. The method of claim 2, further comprising operating the at least one light source to project at least one adjusted light beam marking for correcting at least one deviation between the at least one light beam marking and the planned position.

4. The method of claim 1, further comprising, before and/or after securing together the at least one outer-formwork and the at least one corresponding inner-formwork and before applying the concrete: receiving a second imagery data depicting a top end of at least one of the at least one outer-formwork and the at least one corresponding inner-formwork, registering the second imagery data with the construction site and in accordance with the planning data, analyzing the second imagery data to identify an actual position of the top end of the at least one of the at least one outer-formwork and the at least one corresponding inner-formwork, comparing between the actual position of the top end of the at least one of the at least one outer-formwork and the at least one corresponding inner-formwork and a planned position of the top end of the at least one of the at least one outer-formwork and the at least one corresponding inner-formwork extracted from the planning data, and verifying compliance of the actual position with the planned position of the top end.

5. The method of claim 4, further comprising adjusting positioning of at least one of the at least one outer-formwork and the at least one corresponding inner-formwork responsive to incompliance between the actual position and the planned position.

6. The method of claim 1, further comprising, after the concrete hardens: removing the at least one outer-formwork and the at least one corresponding inner-formwork, thereby exposing the at least one external wall, receiving a third imagery data depicting at least a top end of the at least one external wall, registering the third imagery data with the construction site and in accordance with the planning data, analyzing the third imagery data to identify an actual position of the top end of the at least one external wall, comparing the actual position of the top end to a planned position of the top end of the at least one external wall extracted from the planning data, and checking compliance between the actual position and the planned position of the top end of the at least one external wall, wherein a result of the compliance check is used for evaluating further construction of a subsequent story of the structure.

7. A system for positioning formworks for casting external walls of a structure, comprising: a storage storing planning data relating to a structure constructed at a construction site; at least one light source adapted to project light beam markings on a floor of a currently constructed story of the structure in the construction site, the at least one light source is calibrated with the construction site and in accordance with the planning data; and at least one processor coupled to the storage and to the at least one light source, the at least one processor is adapted for: extracting from the planning data a planned position for positioning at least one outer-formwork used for casting at least one external wall arising from the floor of the currently constructed story, computing a physical position for positioning at least one outer-formwork based on the planned position, and operating the at least one light source to project at least one light beam marking on the floor indicating the physical position for the at least one outer-formwork.

8. The system of claim 7, wherein the at least one light source is calibrated with respect to the construction site based on triangulation according to a plurality of fixed reference points located in and/or near the construction site and recorded in the planning data.

9. The system of claim 7, wherein the at least one light source is calibrated in the construction site based on global navigation satellite system (GNSS) data captured by at least one GNSS sensor mechanically coupled to the at least one light source and mapping data extracted from the planning data.

10. The system of claim 7, wherein the at least one light source is calibrated with respect to the construction site based on triangulation according to a plurality of radio frequency (RF) beacons located in and/or near the construction site and recorded in the planning data.

11. The system of claim 7, wherein the at least one light source comprises at least one laser projector.

12. The system of claim 7, further comprising at least one image sensor adapted to depict at least a part of the construction site from at least one elevated position, wherein the at least one processor is further adapted for: receiving from the at least one image sensor a first imagery data depicting the at least one light beam marking on the floor of the currently constructed story, registering the first imagery data with the planning data, verifying compliance of the physical position indicated by the at least one light beam marking with the planned position for positioning the at least one outer-formwork.

13. The system of claim 12, wherein the at least one processor is further adapted for operating the at least one light source to project at least one adjusted light beam marking indicating an adjusted physical position for positioning the at least one outer-formwork responsive to detecting at least one deviation between the at least one light beam marking and the planned position.

14. The system of claim 12, wherein the at least one processor is further adapted for: receiving from the at least one image sensor a second imagery data depicting a top end of the at least one outer-formwork and/or at least one corresponding inner-formwork secured to the at least one outer-formwork, registering the second imagery data with the planning data, analyzing the second imagery data to identify an actual position of the top end, comparing between the actual position of the top end and a planned position of the top end of at least one outer-formwork and/or the at least one corresponding inner-formwork extracted from the planning data, and verifying compliance of the actual position with the planned position of the top end.

15. The system of claim 14, wherein the at least one processor is further adapted for generating at least one notification responsive to detecting at least one deviation between the actual position and the planned position of the top end.

16. The system of claim 14, wherein the at least one processor is further adapted for operating the at least one light source to project at least one adjusted light beam marking to indicate an adjusted physical position for positioning the at least one outer-formwork responsive to detecting at least one deviation between the actual position and the planned position of the top end.

17. The system of claim 12, wherein the at least one processor is further adapted for: receiving from the at least one image sensor a third imagery data depicting a top end of the at least one external wall after hardened and disposed of all frameworks, registering the third imagery data with the planning data, analyzing the third imagery data to identify an actual position of the top end, comparing the actual position of the top end to a planned position of the top end of the at least one external wall extracted from the planning data, and checking compliance between the actual position and the planned position of the at least one external wall; wherein a result of the compliance check is used for evaluating further construction of a subsequent story of the structure.

18. The system of claim 12, wherein the first imagery data is registered with the planning data according to a plurality of fixed reference points located in and/or near the construction site which are recorded in the planning data and identified in the first imagery data.

19. The system of claim 12, wherein the at least one image sensor is mounted on at least one drone operated to position the at least one image sensor at the at least one elevated position.

20. The system of claim 12, wherein the at least one image sensor is mounted on at least one crane operated to position the at least one image sensor at the at least one elevated position.

21. A method of positioning formworks for casting external walls of a structure, comprising: using at least one processor for: obtaining planning data relating to a structure constructed at a construction site; extracting from the planning data a planned position for positioning at least one outer-formwork used for casting at least one external wall arising from the floor of the currently constructed story, computing a physical position for positioning at least one outer-formwork based on the planned position, and operating at least one light source to project at least one light beam marking on the floor indicating the physical position for the at least one outer-formwork, the at least one light source is calibrated with the construction site and in accordance with the planning data.

22. A system for accurately projecting light beam markings, comprising: a storage storing mapping data relating to a site; at least one light source adapted to project light beam markings in at least a part of the site; at least one image sensor adapted to capture imagery data depicting the at least part of the site; and at least one processor coupled to the storage, to the at least one light source, and to the at least one image sensor, the at least one processor is adapted to execute a code, the code comprising: code instructions to operate the at least one light source to project at least one light beam marking to mark at least one area at the site, code instructions to receive from the at least one image sensor imagery data depicting the at least one marked area, code instructions to register the imagery data with the mapping data and in accordance with the mapping data according to a plurality of static reference points recorded in the mapping data and identified in the imagery data, code instructions to analyze the imagery data to identify a marked position of the at least one area marked by the at least one light beam, code instructions to compare between the marked position of the at least one area and an actual position of the at least one area extracted from the mapping data, and code instructions to operate the at least one light source, based on the comparison, to project at least one adjusted light beam marking to mark the actual position of the at least one area.

23. A method of accurately projecting light beam markings, comprising: using at least one processor for: obtaining mapping data relating to a site; operating at least one light source to project at least one light beam marking to mark at least one area at the site, receiving from at least one image sensor imagery data depicting the at least one area, registering the imagery data with the mapping data and in accordance with the mapping data according to a plurality of static reference points recorded in the mapping data and identified in the imagery data; analyzing the imagery data to identify a marked position of the at least one area marked by the at least one light beam; comparing between the marked position of the at least one area and an actual position of the at least one area extracted from the mapping data; and operating the at least one light source, based on the comparison, to project at least one adjusted light beam marking to mark the actual position of the at least one area. Roy S. Melzer, Adv. Patent Attorney G.E. Ehrlich (1995) Ltd. 35 HaMasger Street Sky Tower, 13th Floor Tel Aviv 6721407