SG11201900690SA - Customized robotic installation based on measurements collected on site - Google Patents
Customized robotic installation based on measurements collected on siteInfo
- Publication number
- SG11201900690SA SG11201900690SA SG11201900690SA SG11201900690SA SG11201900690SA SG 11201900690S A SG11201900690S A SG 11201900690SA SG 11201900690S A SG11201900690S A SG 11201900690SA SG 11201900690S A SG11201900690S A SG 11201900690SA SG 11201900690S A SG11201900690S A SG 11201900690SA
- Authority
- SG
- Singapore
- Prior art keywords
- mountain view
- production process
- parkway
- site
- international
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45086—Brick laying, masonry robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
International Patent Classification: E04G 21/22 (2006.01) B25J 9/16 (2006.01) (21) International Application Number: PCT/US2017/044095 (22) International Filing Date: 27 July 2017 (27.07.2017) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 15/222,583 28 July 2016 (28.07.2016) US (71) Applicant: X DEVELOPMENT LLC [US/US]; 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). (72) Inventors: LINNELL, Jeff; C/o X Development Llc, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). JULES, Anthony; C/o X Development Llc, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). MICHALOWSKI, Marek; C/o X Development Llc, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). BYRNE, Kendra; C/o X Development Llc, 1600 Am- phitheatre Parkway, Mountain View, CA 94043 (US). PROTO, Jonathan; C/o X Development Llp, 1600 Am- phitheatre Parkway, Mountain View, CA 94043 (US). KRUYSMAN, Brandon; C/o X Development Llc, 1600 Amphitheatre Parkway, Mountain View, CA 94043 (US). REEKMANS, Eli; C/o X Development Llc, 1600 Am- phitheatre Parkway, Mountain View, CA 94043 (US). (74) Agent: JORDAN, David E. A.; Fish & Richardson P.C., P.O. Box 1022, Minneapolis, Minnesota 55440-1022 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, (54) Title: CUSTOMIZED ROBOTIC INSTALLATION BASED ON MEASUREMENTS COLLECTED ON SITE 212(a) 26b 22 011111 I I I r :::: 1 14 \" 111111 211(a) 22a 212(b) 211(b) 26a 210b 218 212(a) 210a 20 26 200 co O co O O (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 01 February 2018 (01.02.2018) WIP0 I PCT ~~ll~~~~~~~~ 011101010VIIIOH olo omolom HE mil IIIIIm 1111111 ois (10) International Publication Number WO 2018/022837 Al Figure 2 (57) : A robotic system (100) includes a robot (200) with one or more end-effectors (211) that combine at least one physical object (22), e.g. piles or tiles (42), etc., and a physical structure (20), e.g. abridge or a wall (47) at a production site (26), e.g. a river site or a building, according to a production process. Sensors (212), e.g. force, speed, position, shape, optical/camera, etc. generate sensor data relating to the production process. For example, a model of the production site (26) may provide a civil engineer's conception of how the concrete piles and other construction materials can be combined to build the desired bridge. A control system (218) stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives the sensor data; determines properties of at least one of the production site or object; determines differences between the properties and the model; determines adjustments to the production process based on the differences; and sends instructions for the end-effectors for combining the objects and the structures based on the specifications and the adjustments to the production process. By allowing the robot to adjust [Continued on next page] WO 2018/022837 Al IMEDIMOM0101011MOHIONEEHOHMEIMMINIE CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: with international search report (Art. 21(3)) before the expiration of the time limit for amending the claims and to be republished in the event of receipt of amendments (Rule 48.2(h)) the production process on its own, the production process can continue without interruption and/or intervention by operators.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/222,583 US10220511B2 (en) | 2016-07-28 | 2016-07-28 | Customized robotic installation based on measurements collected on site |
PCT/US2017/044095 WO2018022837A1 (en) | 2016-07-28 | 2017-07-27 | Customized robotic installation based on measurements collected on site |
Publications (1)
Publication Number | Publication Date |
---|---|
SG11201900690SA true SG11201900690SA (en) | 2019-02-27 |
Family
ID=59569379
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG11201900690SA SG11201900690SA (en) | 2016-07-28 | 2017-07-27 | Customized robotic installation based on measurements collected on site |
Country Status (7)
Country | Link |
---|---|
US (2) | US10220511B2 (en) |
EP (1) | EP3485111B1 (en) |
JP (2) | JP6759446B2 (en) |
KR (2) | KR102513340B1 (en) |
CN (2) | CN113232017B (en) |
SG (1) | SG11201900690SA (en) |
WO (1) | WO2018022837A1 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BR112019000722B1 (en) | 2016-07-15 | 2023-03-28 | Fastbrick Ip Pty Ltd | TELESCOPIC EXTENDING BOOM TO CARRY ITEM AND FOLDING BOOM |
CN109790723B (en) | 2016-07-15 | 2021-12-31 | 快砖知识产权私人有限公司 | Brick/block laying machine incorporated in a vehicle |
EP3649616A4 (en) | 2017-07-05 | 2021-04-07 | Fastbrick IP Pty Ltd | Real time position and orientation tracker |
CN111226090B (en) | 2017-08-17 | 2023-05-23 | 快砖知识产权私人有限公司 | Laser tracker with improved roll angle measurement |
EP3668689A4 (en) | 2017-08-17 | 2021-04-28 | Fastbrick IP Pty Ltd | Interaction system configuration |
CN111212799B (en) | 2017-10-11 | 2023-04-14 | 快砖知识产权私人有限公司 | Machine for conveying objects and multi-compartment carousel for use therewith |
CA3105874A1 (en) * | 2018-07-19 | 2020-01-23 | Form Robotics Inc. | System and method for automating construction and installation of surfaces in construction |
JP7281349B2 (en) * | 2018-08-10 | 2023-05-25 | 川崎重工業株式会社 | remote control system |
AU2019333333A1 (en) * | 2018-08-29 | 2021-04-08 | Fastbrick Ip Pty Ltd | Gripping apparatus |
GB2580312A (en) * | 2018-12-24 | 2020-07-22 | Semblr Tech Limited | Structural assembler |
US11157708B2 (en) | 2020-01-31 | 2021-10-26 | Caterpillar Inc. | Method and system for identifying sensors on machines |
CA3185104A1 (en) * | 2020-07-09 | 2022-01-13 | Peyman POOSTCHI | System and method for automated production of prefabricated buildings and building components |
KR102435640B1 (en) | 2020-11-11 | 2022-08-25 | 현대건설주식회사 | Robots for high-altitude operation and operation methods using them |
KR20220064129A (en) | 2020-11-11 | 2022-05-18 | 현대건설주식회사 | Self-driving methods of robots using BIM data and robots for performing them |
KR102488369B1 (en) | 2020-11-11 | 2023-01-13 | 현대건설(주) | Methods and devices for determining the color of safety helmets for workers in construction sites |
DE102021107887A1 (en) | 2021-03-29 | 2022-09-29 | Broetje-Automation Gmbh | Process for processing a vehicle structural component |
KR102609851B1 (en) * | 2021-12-01 | 2023-12-05 | 이원재 | Control system for arm of construction robot |
WO2023150603A1 (en) * | 2022-02-04 | 2023-08-10 | University Of Florida Research Foundation, Inc. | Framing and installation robotic systems and methods |
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US5325468A (en) * | 1990-10-31 | 1994-06-28 | Sanyo Electric Co., Ltd. | Operation planning system for robot |
DE19834703C1 (en) * | 1998-07-31 | 1999-12-30 | Daimler Chrysler Aerospace | Method of production of aircraft fuselage |
JP2000066706A (en) * | 1998-08-21 | 2000-03-03 | Matsushita Electric Ind Co Ltd | Robot controller and its control method |
US7153454B2 (en) * | 2003-01-21 | 2006-12-26 | University Of Southern California | Multi-nozzle assembly for extrusion of wall |
US7467154B2 (en) * | 2005-06-29 | 2008-12-16 | Microsoft Corporation | Producing a locally optimal path through a lattice by overlapping search |
EP1977058B1 (en) * | 2005-12-30 | 2014-07-16 | Goldwing Nominees Pty Ltd. | An automated brick laying system for constructing a building from a plurality of bricks |
JP2010092981A (en) * | 2008-10-06 | 2010-04-22 | Sharp Corp | Solar battery, backside contact solar battery, wiring substrate, and method of manufacturing solar battery |
DE112010000775B4 (en) * | 2009-02-12 | 2016-03-17 | Kyoto University | INDUSTRIAL ROBOT SYSTEM |
US8965571B2 (en) * | 2010-08-12 | 2015-02-24 | Construction Robotics, Llc | Brick laying system |
US20120180424A1 (en) * | 2010-12-13 | 2012-07-19 | Dunmow Systems Corporation | Construction material handling method and apparatus |
US8888434B2 (en) * | 2011-09-05 | 2014-11-18 | Dynamic Micro System | Container storage add-on for bare workpiece stocker |
US9434072B2 (en) * | 2012-06-21 | 2016-09-06 | Rethink Robotics, Inc. | Vision-guided robots and methods of training them |
US9098106B2 (en) * | 2012-08-10 | 2015-08-04 | Comsol Ab | Systems and methods for creating application interfaces for forming and solving problems in a modeling system |
JP5741618B2 (en) * | 2013-03-19 | 2015-07-01 | 株式会社安川電機 | Workpiece assembly apparatus and assembly method |
US9358688B2 (en) * | 2014-04-25 | 2016-06-07 | Gary Lee Drew | Machine for aligning items in a pattern and a method of use |
US9579799B2 (en) * | 2014-04-30 | 2017-02-28 | Coleman P. Parker | Robotic control system using virtual reality input |
US9272417B2 (en) * | 2014-07-16 | 2016-03-01 | Google Inc. | Real-time determination of object metrics for trajectory planning |
JP6458713B2 (en) * | 2015-11-18 | 2019-01-30 | オムロン株式会社 | Simulation device, simulation method, and simulation program |
-
2016
- 2016-07-28 US US15/222,583 patent/US10220511B2/en active Active
-
2017
- 2017-07-27 KR KR1020217006811A patent/KR102513340B1/en active IP Right Grant
- 2017-07-27 CN CN202110459342.XA patent/CN113232017B/en active Active
- 2017-07-27 CN CN201780055043.1A patent/CN109689994B/en active Active
- 2017-07-27 JP JP2019503552A patent/JP6759446B2/en active Active
- 2017-07-27 WO PCT/US2017/044095 patent/WO2018022837A1/en unknown
- 2017-07-27 KR KR1020197005974A patent/KR102226599B1/en active IP Right Grant
- 2017-07-27 EP EP17749783.1A patent/EP3485111B1/en active Active
- 2017-07-27 SG SG11201900690SA patent/SG11201900690SA/en unknown
-
2019
- 2019-01-18 US US16/251,175 patent/US10882181B2/en active Active
-
2020
- 2020-09-02 JP JP2020147677A patent/JP7111782B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US10220511B2 (en) | 2019-03-05 |
CN109689994B (en) | 2021-05-18 |
EP3485111B1 (en) | 2023-09-27 |
JP2019531199A (en) | 2019-10-31 |
KR20190029746A (en) | 2019-03-20 |
US10882181B2 (en) | 2021-01-05 |
KR20210029301A (en) | 2021-03-15 |
US20190184555A1 (en) | 2019-06-20 |
KR102513340B1 (en) | 2023-03-22 |
JP6759446B2 (en) | 2020-09-23 |
CN109689994A (en) | 2019-04-26 |
CN113232017A (en) | 2021-08-10 |
US20180029227A1 (en) | 2018-02-01 |
EP3485111A1 (en) | 2019-05-22 |
JP2021000722A (en) | 2021-01-07 |
WO2018022837A1 (en) | 2018-02-01 |
CN113232017B (en) | 2022-12-13 |
KR102226599B1 (en) | 2021-03-12 |
JP7111782B2 (en) | 2022-08-02 |
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