LU103021B1

LU103021B1 - Site cabin housing dog robot and drone for automatically acquiring 3d data of the site

Info

Publication number: LU103021B1
Application number: LU103021A
Authority: LU
Inventors: Antonino Mancuso; Shahriar Agaajani; Jean-Fabrice Pepin
Original assignee: Space Time S A
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2024-03-29
Also published as: WO2024068918A1

Abstract

The invention is directed to a site cabin (2) comprising an enclosure (4) comprising a floor (4.1), side walls (4.2, 4.3, 4.4, 4.5) and a roof (4.6), delimiting an inner volume; and anchoring points (4.7) on the side walls (4.2, 4.3, 4.4, 4.5), floor (4.1) and/or roof (4.6), for lifting and moving the enclosure (4); at least one outer door (6.1, 6.2) on one (4.5) of the side walls; and an inner door (8) located in the inner volume and delimiting in said inner volume, with the at least one outer door (6.1, 6.2), an airlock (12), and delimiting in a remaining part of said inner volume, a protected volume (14) configured for housing one or more autonomous moving devices (16.1, 18.1) configured for acquiring 3D data of the site.

Description

SITE CABIN HOUSING DOG ROBOT AND DRONE FOR AUTOMATICALLY

ACQUIRING 3D DATA OF THE SITE

Technical field

[0001] The invention is directed to the field of physical site management and operations, like building construction, public works, civil engineering, and the like, and more particularly to the acquisition of 3D data of the site for monitoring and managing the site and its operations.

Background art

[0002] Prior art patent document published WO 2022 069665 A1 discloses a method of data management of the construction of a building, which comprises scanning of the building site with a laser scanner so as to obtain 3D data thereof, and storing the 3D data, at different points in time, and formatting the stored 3D data so as to enable a facilitated consultation of the 3D data through the different points in time. The different points in time can extend from the beginning of the construction until the end, e.g. over several months or years. The main purpose is to be able to easily travel through time, in particular in to a time in the past revealing aspects of the construction which are not visible anymore, like electric cables and water piping embedded in screeds covered by flooring and in walls covered by gypsum, or the like. Another important purpose can be for monitoring and managing progress of the different works done by subcontractors. A regular acquisition of 3D data of selected areas of the building site can therefore provide useful information for a better control and management of the construction. In the above reference, the optical scanning is done manually by an operator successively positioning the 3D scanner at appropriate locations in the building site. This however requires manpower which is not always available and/or can be considered too expensive.

Summary of invention Technical Problem

[0003] The invention has for technical problem to overcome at least one drawback of the above cited prior art. More specifically, the invention has for technical problem to facilitate a regular scanning of a building site.

Technical solution

[0004] The invention is directed to a site cabin comprising: an enclosure comprising: a floor, side walls and a roof, delimiting an inner volume; and at least one outer door on one of the side walls; wherein the side cabin further comprises: an inner door located in the inner volume and delimiting in said inner volume, with the at least one outer door, an airlock, and delimiting in a remaining part of said inner volume, a protected volume configured for housing one or more autonomous moving devices configured for acquiring 3D data of the site.

[0005] The site is a physical site that can be, in a non-limiting way, a building site, a city area or district, a public event area, an underground mine, a surface mine, and the like.

[0006] According to a preferred embodiment, one of the at least one outer door and the inner door are automatic by being electric driven and operable upon detection of the presence of a person or one of the one or more autonomous moving devices.

[0007] According to a preferred embodiment, the automatic outer door is a sliding door and the inner door is a vertically moving sectional door.

[0008] According to a preferred embodiment, the enclosure houses in the protected volume at least one charging station of the one or more autonomous moving devices.

[0009] According to a preferred embodiment, the site cabin further comprises: a power supply network with output electric sockets in the inner volume, at least one input electric socket outside on an outer side of the enclosure.

[0010] According to a preferred embodiment, the power supply network comprises an electric energy storage unit configured for providing a continuous power supply in case of disconnection of a power input.

[0011] According to a preferred embodiment, the power supply network further comprises one or more photovoltaic panels, preferably on the roof of the enclosure.

[0012] According to a preferred embodiment, the site cabin further comprises a communication network with a wireless connection to internet.

[0013] According to a preferred embodiment, the at least one charging station of the one or more autonomous moving devices is connected to the communication network so as to allow a transfer of scan data acquired by the one or more autonomous moving device.

[0014] According to a preferred embodiment, the enclosure comprises anchoring points on the side walls, floor and/or roof, for lifting and moving the enclosure.

[0015] According to a preferred embodiment, the site cabin further comprises a wheeled chassis of a utility vehicle, and wherein the enclosure is located on said wheeled chassis.

[0016] According to a preferred embodiment, the enclosure is formed by body panels of the utility vehicle.

[0017] The invention is also directed to a process of acquiring 3D data of a site, comprising the following steps: (a) positioning a 3D scanner at a location relative to the site; (b) scanning the site from the location and storing scan data; wherein steps (a) and (b) are carried out using at least one autonomous moving device initially housed in a site cabin according to the invention.

[0018] According to a preferred embodiment, the at least one autonomous moving device returns back to the site cabin after steps (a) and (b).

[0019] According to a preferred embodiment, the scan data are uploaded to a central server once the at least one autonomous moving device has returned back to the site cabin.

[0020] According to a preferred embodiment, the method comprises a further step: (c) reiterating steps (a) and (b) to a further location.

[0021] According to a preferred embodiment, the least one autonomous moving device receives instructions to execute step (a), step (b) and, if present, step (c), when being initially in the site cabin.

[0022] According to a preferred embodiment, the least one autonomous moving device is at least one of a walking moving device, preferably a quadruped robot of the dog robot type, and a flying moving device, preferably a drone.

[0023] According to a preferred embodiment, the least one autonomous moving device comprises a walking moving device that execute step (a), step (b) and, if present, step (c), at location(s) inside a building of the site, and the least one autonomous moving device further comprises a flying moving device that execute step (a), step (b) and, if present, step (c), at location(s) outside the building.

[0024] According to a preferred embodiment, the scan data acquired by the walking moving device and the scan data acquired by the flying moving device are distinct and complementary.

Advantages of the invention

[0025] The invention is particularly interesting in that it provides an operative location for one or more autonomous moving devices that enable an autonomous scanning and 3D data acquisition of a building site, thereby avoiding the need to proceed to manual scanning and 3D data acquisition operations. The building site cabin provides not only a safe protection for the one or more autonomous moving devices but also a hub for automatic transfer of the acquired 3D data and also for electrically recharging the one or more autonomous moving devices. The hub formed by the building site cabin serves also for transferring scan orders to the one or more autonomous moving devices, thereby allowing an automatic scanning of specific locations at the discretion of the building site management.

Brief description of the drawings

[0026] Figure 1 is a perspective view of a building site cabin according to the invention.

[0027] Figure 2 is a schematic view of an autonomous quadruped moving device climbing steps of a staircase of the building site.

[0028] Figure 3 is a schematic view of an autonomous flying moving device scanning the roof of the building and its environment.

[0029] Figure 4 is a flow chart of how the building site cabin and the autonomous moving devices can operate, in accordance with the invention.

Description of an embodiment

[0030] Figure 1 illustrates a building site cabin according to the invention.

[0031] The building site cabin 2 comprises an enclosure 4 that comprises a floor 4.1, side walls 4.2, 4.3, 4.4 and 4.5, and a roof 4.6, all delimiting an inner volume. The sides walls comprise two lateral walls 4.2 and 4.3, a rear wall 4.4 and a front wall 4.5. The enclosure 4 is for instance generally cuboid, i.e. parallelepipedal, whereas it can take other shapes. The building site cabin 2 further comprises a first outer door 6.1 on the front wall 4.5, and optionally a second outer door 6.2 on the lateral wall 4.2, adjacent to the front wall 4.5. The enclosure 4 further comprises anchoring points 4.7 for lifting and moving the building site cabin 2, e.g. uploading to and download from a truck at every building site. The anchoring points 4.7 are classical anchoring points provided at each corner of a regular transport container, e.g. of the 10 and 20 feet long types. It is however understood that other anchoring points can be considered, in replacement or in addition to those mentioned here above and illustrated.

[0032] Thanks to the anchoring points 4.7 or alternative means, like rectangular tubes for receiving a lifting fork of a fork lifter or the like, the enclosure 4 can be easily moved from a transport truck or trailer to the site and vice versa.

The enclosure can also be placed on a rolling frame or chassis of a utility vehicle. The site cabin can therefore be mobile as such, without needing external equipment like a crane, fork lifter or the like for being placed on site.

For instance, the walls of the enclosure 4 can be formed directly by panel walls of the utility vehicle.

[0033] The building site cabin 2 further comprises an inner door 8 that delimits with the first outer door 6.1 and the optional second outer door 6.2, in the inner volume, an airlock 12. The inner door 8 delimits in the remaining part of the inner volume a protected volume 14 configured for housing one or more autonomous moving devices 16.1 and 18.1 configured for acquiring 3D data of the building site. The inner door 8 can extend over a whole transversal extent of the enclosure, i.e. from the side wall 4.2 to the opposite side wall 4.3 and from the floor 4.1 to the roof 4.6. Alternatively, the inner door 8 can be formed on an inner wall 10, so that once opened, the inner door 8 forms a passage between the airlock 12 and the protected volume 14 that is narrower in width and/or in height that the transversal extent of the enclosure 4.

[0034] The first outer door 6.1 is advantageously a slide door and similarly, the optional second door 6.2 is a slide door. The inner door 8 is preferably a sectional door that moves vertically. The roof 4.6 provides indeed enough length for receiving the sectional door 8 when in an open position, essentially due to the fact that the protected volume 14 is longer than the airlock 12.

[0035] The first front door 6.1 and the inner door 8, with the airlock 12, are configured for allowing a proper and safe exit and entry of the autonomous moving devices 16.1 and 18.1, i.e. preventing the protected volume 14 from being in direct contact with the exterior ambient conditions, like rain, dust, wind, etc. and also prevent any entry of unauthorized person or of animals.

[0036] The first front door 6.1 and the inner door 8 are electrically driven such that, in normal operation of the building site cabin, they are never opened at the same time. When at least one autonomous moving device 16.1 and/or 18.1 is instructed to exit the building site cabin 2, e.g. for instance instructed to proceed to scanning one or more locations of the building site, the inner door 8 opens while the first and optional second outer doors 6.1 and 6.2 remain closed. Once the at least one autonomous moving device 16.1 and/or 18.1 has moved from the protected volume 14 to the airlock 12, the inner door 8 closes and thereafter the first outer door 6.1 opens, so that the at least one autonomous moving device 16.1 and/or 18.1 can exit the airlock 12 and thereby the enclosure 4 of the building site cabin 2. Once the at least one autonomous moving device 16.1 and/or 18.1 has exited the building site cabin 2, the first outer door 6.1 closes.

[0037] When the at least one autonomous moving device 16.1 and/or 18.1 comes back from a scanning tour, once in the vicinity of the first outer door 6.1, the latter opens, the at least one autonomous moving device 16.1 and/or 18.1 enters the airlock 12, the first outer door 6.1 closes, the inner door 8 opens, the at least one autonomous moving device 16.1 and/or 18.1 moves to the protected volume 14 and the inner door closes 8.

[0038] The optional second door 6.2 can be more classical door for providing access to maintenance or operation personal.

[0039] The building site cabin 2 further comprises a power supply network 20 with output electric sockets 20.1 and at least one input electric socket 20.2 outside on an outer side of the enclosure 4. The power supply network 20 can comprise an electric energy storage unit, or battery, 20.3 and be configured for ensuring a continuous power supply in case of breakdown of the external supply of electric energy, e.g. via the input electric socket 20.2.

Photovoltaic panels 22 can be provided on the enclosure 4, for instance on the roof 4.6, and electrically connected to the power supply network 20, more particular to the electric energy storage unit 20.3. It is indeed not rare on building site to experience power outages, either because of a power consumption overload by one of the devices connected to the power supply of the building site or by an inadvertent physical disconnection of the building site cabin 2 from the power supply of the building site, so that providing a continued power supply in case of such power outages is particularly advantageous.

[0040] The building site cabin 2 further comprises a communication network 24 with a wireless connection to internet, for instance physically located adjacent the power supply network 20. The wireless connection to internet occurs with an antenna 24.1 and a dedicated mobile communication module.

[0041] As this is apparent in figure 1, the building site cabin 2 housed in the protected volume 14, a charging station 16.2 of the autonomous quadruped moving device 16.1, so that said autonomous quadruped moving device 16.1 can recharge its batteries once it has returned to the building site cabin 2. Similarly, a charging station 18.2 of the autonomous flying device 18.1 is provided in the protected volume 14.

[0042] The autonomous quadruped moving device 16.1 is preferably a dog robot, e.g. the robot spot® of Boston Dynamics®. The autonomous flying device 18.1 is preferably a drone, widely commercially available. Each of the autonomous moving device 16.1 and 18.1 is equipped with a laser scanner, for instance of the Lidar type. In addition, each of the autonomous moving device 16.1 and 18.1 comprises series optical and localization means such as camera, GPS and other communication devices for controlling their own movements. In other words, the autonomous moving device 16.1 and 18.1 have their own intelligence for moving themselves in an autonomous way.

[0043] The opening and closing of the doors, in particular the first outer door 6.1 and the inner door 8 is controlled by a control unit that can be located adjacent or even integrated in the power supply network 20. Presence detectors in front of the doors 6.1 and 8 can be provided and sensors for identifying the persons or autonomous moving objects detected in front of the doors can be provided, so that the control unit can determine that a person or an autonomous moving object is located in front of one of the doors 6.1 and 8, determine identity of this person or autonomous moving object and operate, i.e. open or close, the door accordingly.

[0044] Figure 2 is a schematic view of an autonomous quadruped moving device climbing steps of a staircase of the building site.

[0045] As this is apparent, the legs of the autonomous quadruped moving device 16.1 allow it to properly climb the steps of the staircase 26 of the building under construction. Such staircases are indeed common and illustrate the suitability of such an autonomous moving device for evolving over such difficult ground. For instance, a bag 28 of building material such as concrete, sand or the like has been left by the workers on one of the steps of the staircase 26. The autonomous quadruped moving device 16.1 has a front camera 16.1.1 and other detectors of neighboring elements, that enable it to detect the presence of the bag 28 and it is provided with enough intelligence for passing over the step while avoiding a collision or negative interference with the bag 28. For example, the autonomous quadruped moving device 16.1, depending on the width of the bag 28, can decide to pass over the bag 28 with the left legs passing along a left side of the bag 28 and the right legs passing along a right side of the bag 28. In case the bag 28 is wider than the width of the legs, it can decide to jump over the bag 28. Alternatively, it can decide to move laterally relative to the staircase so as to actually pass along the bag 28, i.e. avoid it.

[0046] As this is visible in figure 2, the autonomous quadruped moving device 16.1 carries on a top face thereof a laser scanner 32 configured for scanning the building at the location of the autonomous quadruped moving device 16.1.

For instance, the 3D scanned data comprise data of an adjacent wall made of superimposed building blocks. The 3D scan data acquired at that location is temporarily stored in a memory connected and preferably associated to the laser scanner 32, for being later on downloaded to a server for treatment. That treatment can comprise, based on the 3D data and a library of possible products, detecting the size and type of building block, the height or thickness of the mortar joint between the blocks, and also the progress of the work consisting in building that wall.

[0047] Figure 3 is a schematic view of an autonomous flying moving device scanning the roof of the building and its environment.

[0048] The autonomous flying device 18.1, being for instance a drone, is flying around a building 34 of the site, whose roof 36 is under construction. The autonomous flying device 18.1 is equipped with a laser scanner 32 or identical to the one carried by the autonomous quadruped moving device 16.1, where the laser scanner 32 is oriented so as to allow scanning the roof 36 and the surroundings of the building 34, e.g. the presence of a pallet of tiles 38 for the roof 36. Similarly, the acquisition of 3D data by the autonomous flying device 18.1 allows to collect data that cannot be acquired by a land evolving device like the autonomous quadruped moving device 16.1. The acquired 3D data, once downloaded to the server and processed, allow to determine at the moment when the data have been acquired the process of the work consisting in placing the tiles on the roof 36. In addition, in view of the fact that at the moment when the data have been acquired a portion of the roof 36 was not yet covered with tiles, important information about the supporting structure of the roof and/or its insulation is thereby collected. By doing this regularly, at least every time that a new layer of construction material is applied, the collected data allow to travel back in time and obtain much information about each of these layers.

[0049] The combination of an autonomous land evolving moving device and of an autonomous flying device for scanning different locations of the building site is particularly advantageous in that the nature of the locations in the building site that these two types of devices can scan are complementary.

[0050] Figure 4 is a flow chart of how the building site cabin equipped with the autonomous quadruped moving device and the autonomous flying device operates in accordance with the invention.

[0051] At block 40, an order to scan specific locations, e.g. locations A, B, C and D is sent to the building site cabin 2 (figure 1). That order can be emitted from a server, for instance a central server, already mentioned above.

[0052] At blocks 42.1 and 42.2, the scan orders are transferred to the autonomous moving devices 16.1 and 18.1, for instance the “dog” and the drone, according to the locations. In the presence case, locations A and B are assigned to the “dog” and the locations C and D are assigned to the drone.

As a matter of example, the locations A and B are inside a building of the building site and the locations C and D are outside the building(s) of the building site.

[0053] At block 44, the inner door 8 (figure 1) is opened.

[0054] At block 46, both “dog” 16.1 and drone 18.1 (figures 1-3) exit the protected volume 14 (figure 1) by moving to the airlock 12 (figure 1).

[0055] At block 48, the inner door 8 (figure 1) is closed, resulting in closing the airlock 12 with both “dog” and drone inside.

[0056] At block 50, the outer door 6.1 (figure 1) is opened, resulting in opening the airlock 12 (figure 1) to the outside.

[0057] At block 52, both “dog” and drone exit the airlock 12 (figure 1).

[0058] Optionally, the outer door 6.1 (figure 1) can be closed after that the “dog” and drone have exited the airlock.

[0059] At blocks 54.1, 54.2, 56.1, 56.2, 58.1, 58.2, 60.1 and 60.2, each of the “dog” and drone successively moves to the locations A and B, and C and D, respectively, and scans the building site at these locations.

[0060] At blocks 62.1 and 62.2, each of the “dog” and drone, after having finished scanning the building site at the requested respective locations, returns to the building site cabin 2 (figure 1).

[0061] At block 64, the outer door 6.1 (figure 1) opens, so that at block 66, both “dog” and drone can enter the airlock 12 (figure 1).

[0062] At block 68, the outer door 6.1 (figure 1) closes and thereafter at block 70, the inner doon 8 (figure 1) opens, so that at block 72, both the “dog” and drone move to the protected volume 14 (figure 1) and more specifically to their respective recharging stations 16.2 and 18.2.

[0063] At block 74, the inner door 8 (figure 1) closes.

[0064] At block 76, both “dog” and drone transfer the acquired 3D scan data to the above-mentioned server.

[0065] The above-described operation is exemplative, being understood that variants can be considered. For example, and in a non-limiting manner, only one autonomous moving device can receive the scan order to proceed to scan locations; this can be the case when only locations assigned to one autonomous moving device are present in the scan order. Also, when several autonomous moving devices exit together the airlock 12 (figure 1) for reaching their respective locations for scanning, their returns to the building site cabin 2 (figure 1) can occur at different times, for example when one of the autonomous moving devices has finished its scanning tour before the other one(s). Also, the scan order can be issued automatically periodically and/or automatically based on specific events, like feedback from subcontractors informing that specific works are terminated.

[0066] The above site cabin and operations, although specifically described in the context of a building site, can be used for any type of physical site, like for civil engineering, public works, public events, etc.

Claims

1. A site cabin (2) comprising: an enclosure (4) comprising: a floor (4.1), side walls (4.2, 4.3, 4.4, 4.5) and a roof (4.6), delimiting an inner volume; and at least one outer door (6.1, 6.2) on one (4.5) of the side walls; characterized in that the site cabin (2) further comprises: an inner door (8) located in the inner volume and delimiting in said inner volume, with the at least one outer door (6.1, 6.2), an airlock (12), and delimiting in a remaining part of said inner volume, a protected volume (14) configured for housing one or more autonomous moving devices (16.1, 18.1) configured for acquiring 3D data of the site.

2. The site cabin (2) according to claim 1, wherein one of the at least one outer door (6.1, 6.2) and the inner door (8) are automatic by being electric driven and operable upon detection of the presence of a person or one of the one or more autonomous moving devices (16.1, 18.1).

3. The site cabin (2) according to claim 2, wherein the automatic outer door (6.1) is a sliding door and the automatic inner door (8) is a vertically moving sectional door.

4. The site cabin (2) according to any one of claims 1 to 3, wherein the enclosure (4) houses in the protected volume at least one charging station (16.2, 18.2) of the one or more autonomous moving devices (16.1, 18.1).

5. The site cabin (2) according to any one of claims 1 to 4, further comprising: a power supply network (20) with output electric sockets (20.1) in the inner volume, at least one input electric socket (20.2) outside on an outer side of the enclosure (4).

6. The site cabin (2) according to claim 5, wherein the power supply network (20) comprises an electric energy storage unit (20.3) configured for providing a continuous power supply in case of disconnection of a power input.

7. The site cabin (2) according to claim 6, wherein the power supply network (20) further comprises one or more photovoltaic panels (22), preferably on the roof (4.6) of the enclosure (4).

8. The site cabin (2) according to any one of claims 1 to 7, further comprising: a communication network (24) with a wireless connection to internet.

9. The site cabin (2) according to claim 8 and according to claim 4, wherein the at least one charging station (16.2, 18.2) of the one or more autonomous moving devices (16.1, 18.1) is connected to the communication network (24) so as to allow a transfer of scan data acquired by the one or more autonomous moving devices

(16.1, 18.1).

10. The site cabin (2) according to any one of claims 1 to 9, wherein the enclosure (4) comprises: anchoring points (4.7) on the side walls (4.2, 4.3, 4.4, 4.5), floor (4.1) and/or roof

(4.6), for lifting and moving the enclosure (4).

11. The site cabin (2) according to any one of claims 1 to 9, further comprising a wheeled chassis of a utility vehicle, and wherein the enclosure (4) is located on said wheeled chassis.

12. The site cabin (2) according to claim 11, wherein the enclosure (4) is formed by body panels of the utility vehicle.

13. A process of acquiring 3D data of a site, comprising the following steps: (a) positioning (54.1, 54.2, 58.1, 58.2) a 3D scanner (32) at a location relative to the site; (b) scanning (56.1, 56.2, 60.1, 60.2) the site from the location and storing scan data; characterized in that steps (a) and (b) are carried out using at least one autonomous moving device

(16.1, 18.1) initially housed in a site cabin (2) according any one of claims 1 to 12.

14. The process according to claim 13, wherein the at least one autonomous moving device (16.1, 18.1) returns back (62.1, 62.2) to the site cabin (2) after steps (a) and (b).

15. The process according to claim 14, wherein the scan data are uploaded (76) to a central server once the at least one autonomous moving device (16.1, 18.1) has returned back to the site cabin (2).

16. The process according to any one of claims 13 to 15, comprising a further step: (c) reiterating steps (a) and (b) to a further location.

17. The process according to any one of claims 13 to 16, wherein the least one autonomous moving device (16.1, 18.1) receives instructions (42.1, 42.2) to execute step (a), step (b) and, if present, step (c), when being initially in the site cabin (2).

18. The process according to any one of claims 13 to 17, wherein the least one autonomous moving device (16.1, 18.1) is at least one of a walking moving device

(16.1), preferably a quadruped robot (16.1) of the dog robot type, and a flying moving device, preferably a drone (18.1).

19. The process according to any one of claims 13 to 18, wherein the least one autonomous moving device comprises a walking moving device (16.1) that execute step (a), step (b) and, if present, step (c), at location(s) inside a building of the site, and the least one autonomous moving device further comprises a flying moving device (18.1) that execute step (a), step (b) and, if present, step (c), at location(s) outside the building.

20. The process according to claim 19, wherein the scan data acquired by the walking moving device (16.1) and the scan data acquired by the flying moving device

(18.1) are distinct and complementary.