WO2023091147A1 - Système et procédé améliorés pour un plan d'implantation automatique de bâtiments - Google Patents

Système et procédé améliorés pour un plan d'implantation automatique de bâtiments Download PDF

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Publication number
WO2023091147A1
WO2023091147A1 PCT/US2021/060267 US2021060267W WO2023091147A1 WO 2023091147 A1 WO2023091147 A1 WO 2023091147A1 US 2021060267 W US2021060267 W US 2021060267W WO 2023091147 A1 WO2023091147 A1 WO 2023091147A1
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WO
WIPO (PCT)
Prior art keywords
unit
carriage
printing
mobile robotic
construction
Prior art date
Application number
PCT/US2021/060267
Other languages
English (en)
Inventor
Fernando J. PINHO
Original Assignee
Image Clone Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Image Clone Llc filed Critical Image Clone Llc
Priority to PCT/US2021/060267 priority Critical patent/WO2023091147A1/fr
Publication of WO2023091147A1 publication Critical patent/WO2023091147A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/12—Geometric CAD characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads

Definitions

  • the instant invention relates to the construction industry, specifically to the task of laying out the points of reference as identified in blueprints for the construction of a structure, such as a building.
  • the current method for laying out or marking for construction of buildings involves a significant number of resources in terms of time and man power, and thus ultimately, expense.
  • the method for laying out a structure involves one, two, or even more individuals using a set of blue prints, plans, and drawings to walk the construction site or structure marking points and snapping lines to ensure that the building is square (See line 100A in Prior Art Figure 1) in order to allow for properly constructed walls and foundations (See Prior Art Figure
  • a system and method for calibrating such plans and transferring such plans into a computer readable file and loading a specially designed electronic version of such plans into a hardware-based system that locates, adjusts, transfers, and prints, to a desired scale, a lasting image of said construction plans drawn onto a building surface, thus eliminating the need for workers to carry blueprints to a job site and physically transfer information from such blueprints onto the building site via the traditional method of snapping lines and marking of points.
  • an improved system and method allows for surveying of land generally, as well as for preparation for construction on that land.
  • Fig. 1 and Fig. 2 illustrate the prior art method for layout techniques in construction of buildings.
  • Fig. 3 depicts the transfer electronically of a construction location point on hardcopy of a blueprint to a relative position on a building construction surface.
  • Fig. 4 is a perspective view of a laser device as placed at the comer of building construction surface.
  • Fig. 5 is an exploded view of the comer of a building construction surface as marked by the system of the present invention.
  • Fig. 6 is a view from above a building construction surface showing the placement for constructing a stairwell in said surface.
  • Fig. 7 is the final verified floorplan of the interior of a floor of a building to be constructed.
  • Fig. 8 is a juxtaposition of a floorplan as shown in Fig. 5 and the view from above of a building construction surface as shown in Fig. 4.
  • Fig. 9 is a perspective view of an auto-locator device.
  • Fig, 10 is a perspective view of a robotic printer device.
  • Fig. 11 shows the remote operation of the instant system by an operator.
  • Fig. 12 is a block diagram of an improved system of the present invention.
  • Fig. 13 is a frontal view of the prism and reflector unit of the present invention.
  • Fig. 14 is a frontal view of the central tracking unit of the present invention.
  • Fig. 15 is a top view representation of the carriage and printing unit of the present invention.
  • Fig. 16 is a block diagram of the parts of the prism and reflector unit of Fig.
  • Fig. 17 is a block diagram of the parts of the central tracking unit of Fig. 14.
  • Fig. 18 is a block diagram of the parts of the carriage and printing unit of
  • Fig. 19 is a representative screen display as shown on the screen of the wireless computing device of the present invention.
  • Fig. 20 depicts the central tracking unit juxtaposed with a prism and reflector unit as described in the method of the present invention.
  • Fig. 21 depicts the central tracking unit juxtaposed with a single carriage and printing unit as described in the method of the present invention.
  • Fig. 22 depicts the central tracking unit juxtaposed with multiple carriage and printing units as described in the method of the present invention.
  • Fig. 23 is the top view of a carriage and printing unit having a drone attached thereto.
  • Fig. 24 is a perspective view of a rough terrain version of the carriage and printing unit of the present invention.
  • Fig. 25 is a perspective side view of the carriage and printing unit of Fig. 23.
  • plans such as, without limitation, blueprints, drawings, or Autocad® files
  • the process is started by identifying and locating several reference points, for example, the comer reference point 13 as shown on Fig. 3, which shows hardcopy blueprint 10 (having floorplan 12 described on it) in juxtaposition with the building construction surface 11.
  • the objective is to lay out for construction the proper locations for the walls 21, the door openings 22, the window locations 23, and the stairwells 24, all as shown on the hardcopy of the floorplan 12, onto the actual construction surface 11, whether that surface is a wood framed floor of a building or a concrete slab.
  • points are marked on the building surface by persons who physically mark such points on several comers of the building construction surface by snapping lines such as line 100 A in Fig. 1. As shown in Fig. 5, such points will correspond to the inside of the wall at the exact location where the two outside walls should intersect at that comer 13 on surface 11. This process is repeated at the other comers of the building.
  • a laser-based receiver/transmitter device 20 is place at said comer 13.
  • Device 20 communicates with other similar laser devices and with the operator 2000 as shown in Fig. 11 of the system of the present invention. Using a panoply of generated laser references
  • the device 20 locates comer 13 on surface 11 as marked on floorplan 12 of the hardcopy blueprint 10.
  • a panoply of said devices 20 communicate using software that identifies a device 20 closest to the referenced comer 13 and are self- adjusted to ensure that the building to be constructed is square on surface 11 , without the need manually to snap line, and to incorporate dimensional changes as the construction proceeds.
  • These laser devices 20 communicate proper locations, such as comer 13, to a panoply of robotic printers, such as printer 1001, having wheels
  • While said panoply of laser devices 20 are self-controlled by said software program, such control of said devices 20 is subject to being overridden remotely by the operator 2000 of the system at issue.
  • Said operator 2000 as shown in Fig. 11 can communicate and control all of said devices remotely using a desktop computer having display screens 2001 , or a laptop computer, from a construction office or by using a mobile device or tablet at the construction site.
  • said operator checks to ensure that said references created are square (that is, are at 90-degree angles to each other as shown in Fig. 6 by the use of electronically generated line 100 that electronically replicates the prior art physical line 100 A as shown in use in Fig. 1).
  • Adjustments can be made for any dimensional discrepancies between the dimensions supplied by the devices and the corresponding dimensions obtained from the drawings. These adjustments can be automatically made by the software or remotely by operator 2000, as shown in Fig. 11 using a desktop computer with display screens 2001, once the dimensions obtained from the drawings are entered and compared against the actual dimensions generated by the devices. These adjustments can be made by adjusting the new final reference points to correspond with the drawings, or the dimensions contained in the drawings can be adjusted to correspond with the dimensions obtained from the devices, or a combination of both.
  • the end result will be a set of final files that are specific to that building and, which, in this case, can be used in laying out all of the walls, doors, and windows for each floor of this building as shown in Fig. 7.
  • Locating these items or elements is necessary for safety and to avoid delays in construction.
  • such items may include plumbing fixtures, such as pipes, or bolts that are part of the construction process that protrude from the floor, temporary holes in a floor at which a stairwell is to be located, or protrusions of structural materials or scaffolding on the exterior of the building under construction.
  • These items and elements can be identified and located on the building by the use of an auto locator device 1000 as shown in Fig.9.
  • An auto locator 1000 is programmed to work within the system in conjunction with laser devices 20 and robotic printers 1001, or may be used independently to locate elements, such as a pipe protruding through a floor under construction in order to ensure that the location of such an element is identified as a hazard to be avoided by a moving robotic printer 1000.
  • Auto locator 1000 is constructed so as to allow for full movement of its aperture 1010 in both the horizontal direction 1011 and in the vertical direction 1012, both relative to the construction surface 11 on which said auto locator is placed, and is programmed to communicate with all parts of the system under the control of the software of the system and remotely by operator
  • Auto locator 1000 which can be free standing as shown in Fig. 9 or incorporated on top of a laser device 20, marks points and transfers them directly to the electronic drawings, which points are matched to a library of shapes for identification in said drawings, such as “a pipe protruding from floor.” The size of the protruding pipe is entered into the drawings so that a robotic printer 1001 in its motion will avoid contact with the protruding pipe.
  • Fig. 10 is a robotic printer 1001 known in the art. A panoply of such printers
  • Robotic printers 1001 in the preferred embodiment are placed on the construction surface 11 in order that the final drawings are automatically printed onto construction surface 11.
  • Operator 2000 transmits information as described above and contained in the final drawings as directions to the robotic printers 1001.
  • Robotic printers 1001 efficiently transfer all the desired information from the drawings onto the surface
  • Robotic printers 1001 automatically divide the printing tasks, or operator 2000 may override the software program to assign certain printing tasks between or among a panoply of robots
  • robotic printers 1001 automatically avoid or work around certain areas during construction. As a result, robotic printer 1001 is prevented from falling off the side of a building under construction, or falling down an open stairwell, or running into a protruding pipe.
  • Robotic printers 1001 communicate wirelessly under control of the system software with laser devices 20, auto locators 1000, or with both to retrieve and share information, and as such are used to layout simple or intricate designs to be incorporated into final floor as constructed.
  • Information from the drawings can be used by a fabricator in the cutting of the individual pieces of material to be used on a floor printed using the system and in accordance with the method described herein. Such pieces can be numbered, or marked to match the same markings placed on the floor by the robot 1001 and similar work can be done when creating a design on a ceiling or walls.
  • a layout or design can either be drawn out on the floor and transferred directly to the ceiling or walls, or applied directly to the ceiling or wall.
  • No Go Zones can be identified on surfaces as described in the electronic drawings using auto locator 1000 or laser devices 20, or may be remotely entered into the electronic drawings by operator 2000.
  • a “No Go Zone” at a stairwell is set by an auto locater 1001 identifying the perimeters of the stairwell. Once a “No Go Zone” is established electronically, robotic printer 1001 is prohibited from entry by automatic software command.
  • the system is programed to mark and to create lines and designs of different shapes and colors onto a construction surface 11 and the scale of the drawings or pictures being transferred can be adjusted remotely by operator 2000. These markings can be done so as to be resistant to a variety of weather conditions and foot traffic.
  • Various structures can be color coded (i.e., walls- black lines, window openings-green, cabinet locations- red, electrical fixtures-purple, or plumbing fixtures-blue).
  • a history comprised of computer-generated files detailing the initial runs of the panoply of robot printers 1001 for a variety different sized projects is stored in a centralized program in the present invention for use in estimating duration and complexity for future projects. As more and more projects are completed, this predictive database will grow, thus increasing its usefulness for future estimates of time and cost to complete a host of different construction projects.
  • the system is programmed to alert operator 2000 as to the estimated time to complete tasks. Upon completion of tasks by robotic printer 1001, the software of the system alerts operator 2000 or others in the construction staff, such as the general contractor owner of the property, via text, email, or automated phone call.
  • Fig. 12 is a block diagram of an improved robotic printing system for layout marking and printing 3000 having the following devices: a central tracking unit
  • CTU central processing unit
  • OCT on-carriage tracking unit
  • wireless routing system 3002 such as a WiFi router
  • computing device 3001 such as a laptop or tablet with a remote desktop visible on a screen display.
  • Fig. 14 shows in greater detail a central tracking unit 3004 of Fig. 12.
  • the central tracking unit 3004 is placed inside the layout as shown in Figs. 20, 21, and
  • the central tracking unit as shown in Fig. 14 is fitted with prism reflector unit 30041 on top of it that facilitates tracking unit fitted on a carriage and printing robot 3005 to detect and measure angle and distances to estimate and correct its position in the layout the printing process as shown in Fig. 21 and Fig. 22.
  • the central tracking unit as shown in Fig. 14 also comprises a reflector column 30042, a laser module
  • the central tracking unit 3004 also comprises a microcontroller unit to communicate with master controller of the computing device, a 24-volt battery and dc-dc converters to power the system, as well as zoom lens and focus lens controls for camera 30044.
  • Camera 30044 is used to scan the layout area in order to detect obstacles or fixed objects, such as water or drainage pipes, but the camera can also detect obstacles and hazards that are not part of the building plan ab initio, but come into existence as the layout is taking place, such as a brick that has fallen onto the building surface during the layout process.
  • Fig. 13 shows one of a panoply of prism and reflector units 3003 used to locate various points on the layout and to discern whether there are any deviations in the foundation from the layout drawing. Units 3003 are capable of measuring tilt, and are auto levelling to communicate with central tacking unit 3004 for residual tilt compensation.
  • the prism and reflector unit 3003 is shown to be outfitted with a prism block 30031, a prism rod tilt angle measurement module
  • Fig. 16 is a block diagram of prism and reflector unit 3003 that includes a battery and power switch. When placed at a point in the layout, a prism and reflector unit 3003 measures the tilt angle of the building surface. Based on this angle the auto levelling module 30034 performs platform level adjustment within its tolerance limits so that the remaining tilt angle is compensated in the software while electronically measuring distances.
  • Fig. 15 shows the carriage and printing mobile robot unit 3005 with on- carriage tracking unit (OCT) 30053, locomotive means, such as four wheels 30051, and marker/ink spray nozzle 30052.
  • OCT on- carriage tracking unit
  • the carriage and printing robot 3005 is a combination of carriage, gantry, battery, power switch, printing head 30052), and tracking unit (OCT) 30053, by which it can move to perform various tasks of the layout printing process.
  • OCT tracking unit 30053 that has LiDAR and laser distance measurement units and the capability to control pan and tilt angles of the LiDAR and LASER modules, as well as a camera module that is used to scan the layout area as the carriage unit 3005 is in motion in order to detect obstacles or fixed objects, such as water or drainage pipes, but also to detect newly placed, unanticipated hazards, such as a brick or other construction material that may have fallen by chance onto the surface, a bird that has landed on said construction site, or an animal that has wandered onto said construction site.
  • the carriage unit 3005 can avoid hazards and obstacles while in motion.
  • An application program running on master controller computing device 3001 controls the scanning and printing process as shown as an example in Fig.
  • the carriage and printing unit 3005 comprises a four-wheel carriage and a gantry fixed to the carriage.
  • the carriage measures 1000mm X 1000mm in size which can cover print area of 3’x3’.
  • Said gantry has a mechanism to attach any of the following printing options: Marker,
  • Ink spray nozzle Inkjet print head.
  • a dedicated microcontroller system that takes commands from a master controller in a computing device 3001 wirelessly over a serial communication port.
  • Gantry movement and printing tasks are handled by another dedicated microcontroller system that takes commands from said master controller also wirelessly over a serial communication port.
  • 3005 is used to process layout files in .dxf format and convert to a custom format that printing head understands, perform printing head angular and linear error correction, detect obstacles in the path of the carriage in real time and take evasive measures to bypass the obstacles, and print the layout drawing on the building surface to actual size.
  • the process for using the improved system described hereinabove has two parts: a layout marking phase and a layout printing phase.
  • the layout marking phase can be described as follows; As stated above, Fig. 19 is a screen display that is visible on the computing device 3001 that provides a remote visible representation of layout marking and printing process.
  • the tracking unit 3004 scans for prisms in the area of the intended layout.
  • laser module 30043 is focussed on the column and keeps blinking until Start Marking command is received from the application program.
  • the 3004 conducts a 360° scan and when prisms are found, the unit 3004 focusses the laser 30043 on to the reflector columns and measures accurate distance and angle values.
  • the tracking unit 3004 sends the measurement data to the master control application for generating layout information for further analysis. After the marking phase has been completed, the position of central tracking unit 3004 remains intact until the printing task is completed.
  • the layout marking process comprises the following steps:
  • central tracking unit performs a 360° forward scan (clockwise) with LiDAR 30045 and then tracks back (counter clockwise) with laser 30033 taking distance and angle values for each of the placed prism and reflector units
  • the laser 30033 When the marking is completed the laser 30033 will keep flashing on the column at point A.
  • the master control application creates layout marking file in .dxf format. The application program then imports this file and compares it to the original layout drawing file to see whether there are any deviations, perform layout correction if needed, and proceed with printing activity.
  • the process first prints the border segments and then prints internal segments.
  • Fig. 21 shows an example in the preferred embodiment of the printing phase using a single carriage and printing robot 3005 by completing the steps that follow:
  • the layout information is printed and printing unit moves to next segment. This process continues for the entire layout is printed and the progress is updated in the GUI.
  • Fig. 22 illustrates the use of a panoply of robotic printing devices 3005 in the preferred embodiment of the layout printing phase. It is to be noted that as an initial matter the location of the central tracking unit 3004 should remain undisturbed after completion of the marking phase. The steps of such process are as follows:
  • the central tracking unit 3004 keeps scanning for any obstacles in each of the print areas and communicates with the applicable printing unit 3005 with obstacle information that is used to take evasion action by the carriage and printing unit 3005 at risk.
  • the progress of each printing unit 3005 is displayed in the master control application’s GUL
  • a second embodiment of a carriage and printing unit 4005 is shown in a top view in Fig. 23.
  • Unit 4005 is intended to be used both for layout printing on a regular building surface as well as in a surveying application on barren or unprepared land, especially land that is rough terrain.
  • carriage and printing unit 4005 includes stake/object storage area 40055 in which surveying stakes can be stored for automated installation similar to the printing operations disclosed herein. Stakes are collected one from a storage rack in area
  • unit 40055 one at a time by a printer/stake object applicator enclosed in unit 4005 for installation on barren or unprepared land under surveyance at locations as determined by the marking process disclosed hereinabove; alternatively, unit 4005 can be used for painting survey marks, pre-drilling marks, or hand installation of stakes by surveyors.
  • Carriage and printing unit 4055 is shown attached to a drone
  • Fig. 24 shows one embodiment of a carriage and printing unit 4005 outfitted with locomotive means, such as the rough terrain tank treads 40056 or other rough terrain wheels.
  • Unit 4005 is configured with self-leveling capability if needed to facilitated the proper locating of a point in barren land that is rough terrain.
  • Fig. 25 shows a carriage and printing unit modified to be delivered to the location by locomotive means that entail flying and hovering into the location by use of drone 5000 in order to avoid rough terrain and unprepared land. Drone
  • 5000 is under the control wirelessly of a user of the system having access to the application program running on computing device 3001.
  • This system can be programmed to mark lines and add shapes on foundations, floors, and walls using lasers that can create permanent lines, markings, or drawings onto surfaces. Using the system described with drones and
  • GPS signals allows the construction company to layout, mark, and add shapes on concrete, wood, or other surfaces.
  • Such drawings can be covered with a veneer or poly coating to preserve the drawing and make permanent on a concrete floor so marked.
  • the process described can be in many industrial settings, including, but not limited to: layout of excavation work or other site work; layout of foundations; layout for framing; layout for HAVC, plumbing, or electrical systems; layout for interior finishes; layout for painting; and for creating designs and murals, or parking lot or street line stripes painting.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

La présente invention concerne un système et un procédé permettant, à partir d'un ensemble de plans, tels que, sans caractère limitatif, des bleus, des dessins ou des fichiers Autocad®, d'étalonner lesdits plans et de les transférer dans un fichier lisible par ordinateur, et de charger une version électronique desdits plans, spécialement conçue, dans un système matériel qui localise, adapte, transfère et imprime, à une échelle souhaitée, une image durable desdits plans de construction tracés sur une surface de bâtiment.
PCT/US2021/060267 2021-11-22 2021-11-22 Système et procédé améliorés pour un plan d'implantation automatique de bâtiments WO2023091147A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/US2021/060267 WO2023091147A1 (fr) 2021-11-22 2021-11-22 Système et procédé améliorés pour un plan d'implantation automatique de bâtiments

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Application Number Priority Date Filing Date Title
PCT/US2021/060267 WO2023091147A1 (fr) 2021-11-22 2021-11-22 Système et procédé améliorés pour un plan d'implantation automatique de bâtiments

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080154538A1 (en) * 2006-10-21 2008-06-26 Sam Stathis System for accurately and precisely locating and marking a position in space using wireless communications and robotics
US20130310971A1 (en) * 2012-05-15 2013-11-21 Joseph M. Prouty Robotic Construction Site Marking Apparatus
US20140307252A1 (en) * 2013-04-12 2014-10-16 Hexagon Technology Center Gmbh Surveying device
US20180093289A1 (en) * 2015-06-17 2018-04-05 Integrated Construction Enterprises, Inc. Autonomous painting systems and related methods
US20180107007A1 (en) * 2016-10-18 2018-04-19 Qualcomm Incorporated Self-aligning travelling collimating lens for sweeping laser
US20190258750A1 (en) * 2018-02-21 2019-08-22 Image Clone, Llc System and method for automated layout of buildings

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080154538A1 (en) * 2006-10-21 2008-06-26 Sam Stathis System for accurately and precisely locating and marking a position in space using wireless communications and robotics
US20130310971A1 (en) * 2012-05-15 2013-11-21 Joseph M. Prouty Robotic Construction Site Marking Apparatus
US20140307252A1 (en) * 2013-04-12 2014-10-16 Hexagon Technology Center Gmbh Surveying device
US20180093289A1 (en) * 2015-06-17 2018-04-05 Integrated Construction Enterprises, Inc. Autonomous painting systems and related methods
US20180107007A1 (en) * 2016-10-18 2018-04-19 Qualcomm Incorporated Self-aligning travelling collimating lens for sweeping laser
US20190258750A1 (en) * 2018-02-21 2019-08-22 Image Clone, Llc System and method for automated layout of buildings

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