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WO2022018137A1 - Procédé d'exécution d'un processus de construction lors de l'érection d'un ouvrage de construction à l'aide d'au moins un robot constructeur - Google Patents

Procédé d'exécution d'un processus de construction lors de l'érection d'un ouvrage de construction à l'aide d'au moins un robot constructeur Download PDF

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Publication number
WO2022018137A1
WO2022018137A1 PCT/EP2021/070389 EP2021070389W WO2022018137A1 WO 2022018137 A1 WO2022018137 A1 WO 2022018137A1 EP 2021070389 W EP2021070389 W EP 2021070389W WO 2022018137 A1 WO2022018137 A1 WO 2022018137A1
Authority
WO
WIPO (PCT)
Prior art keywords
construction
dimensions
workpiece
sensor
digital
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2021/070389
Other languages
German (de)
English (en)
Inventor
Steffen SOELL
Christian Richter
Robert ZICKLER
Frank Will
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technische Universitaet Dresden
Original Assignee
Technische Universitaet Dresden
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 Technische Universitaet Dresden filed Critical Technische Universitaet Dresden
Priority to EP21748594.5A priority Critical patent/EP4185754B1/fr
Publication of WO2022018137A1 publication Critical patent/WO2022018137A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction

Definitions

  • the invention relates to a method for carrying out a construction process when erecting a building using at least one construction robot with sensory detection of existing dimensional deviations and integrated processing and adjustment of the corresponding workpieces in the automated execution of construction processes (e.g. laying walls or tiling) with the help of a mobile construction robot.
  • the invention relates in particular to all methods in which the compensation of workpiece tolerances is not possible through average workpiece positioning or joint dimension adjustment and which are carried out directly on the construction site.
  • Manufacturing and process-related deviations in dimensions and position occur in many construction processes (e.g. laying bricks and tiles). This are caused, among other things, by tolerances in the length, width and height dimensions of the individual workpieces, as well as tolerances in the butt and horizontal joints between the workpieces. All in all, these individual deviations can result in the permissible upper and lower dimensions specified in the construction plan being exceeded or fallen short of. In order to comply with the permissible dimensional tolerances, it is necessary to regularly record and check the current dimensions and, if necessary, adjust the workpieces by subtractive or additive processing (e.g. cutting, breaking, burning, sawing, milling, orders).
  • subtractive or additive processing e.g. cutting, breaking, burning, sawing, milling, orders.
  • Previous mobile devices or robot systems for the automated laying of bricks, tiles or similar objects do not check the tolerance chain or compliance with the permissible dimensions.
  • the objects to be laid are simply lined up.
  • the objects are positioned and aligned either in relation to the objects already laid (e.g. by checking the gap and joint dimensions) or by specifying absolute position and location values (related to a reference system, e.g. construction site coordinate system). Due to the dimensional deviations, absolute position measuring systems are only used for rough positioning. Here, too, fine positioning is carried out using a relative measuring method or by checking the contact pressure when laying the workpieces.
  • the object of the invention is therefore to enable compliance with the permissible tolerances in the automated laying or assembly of workpieces using mobile construction robots in the construction sector.
  • a process sequence is defined, which includes the control and monitoring of the permissible tolerances as well as the processing of the workpieces.
  • technical solutions for the implementation of the individual process steps are described.
  • a construction process is carried out using at least one mobile construction robot, which is designed to move and/or assemble workpieces to produce a construction object.
  • a digital construction plan or a digital construction object model containing the nominal dimensions and dimensional tolerances of the respective construction object is stored in an electronic evaluation and control unit.
  • At least the relevant external dimensions of workpieces for the respective construction project and possibly also for the respective construction object relevant physical properties (dimensions, mass, position, ..) of workpieces for the construction project are stored.
  • the current actual dimensions of the respective construction project are determined and fed to the electronic evaluation and control unit.
  • At least one mobile construction robot is used to search for a workpiece to be installed in the respective construction process.
  • Data from the digital building object and one or more sensors can be used.
  • at least one additional sensor or sensor device is used to determine the external dimensions of the workpiece relevant to the construction process and thus calculate any dimensional deviations from a target value that occur when the respective workpiece is laid and/or assembled.
  • the determined dimensional deviations are used to decide whether the respective workpiece is to be laid and/or assembled at a position corresponding to the construction project model or whether it is processed in advance so that its external dimensions are within dimensional tolerances after laying and/or assembling at the respective position .
  • the respective actual dimensions can be determined by contact or preferably without contact.
  • the essential novelty of the invention consists in the linking of sensory recording of the actual dimensions of the construction project (structure) and workpiece, the determination and calculation of the dimensional deviations, the control of the permissible tolerances and the adjustment of the workpieces depending on the results of a dimensional tolerance analysis.
  • the invention forms the basis for complying with the permissible tolerance dimensions in the automated execution of construction processes using mobile robot systems and thus creates the basis for a practical use of future construction robotic systems.
  • the description of a generally applicable process sequence covers a wide range of potential applications (e.g. laying bricks, aerated concrete blocks, tiles, paving slabs, paving stones, drywall, etc. as possible workpieces).
  • a digital construction plan or building model is used to provide information about what is to be installed Workpiece loaded. This can include the type, geometry, material or type designation of the workpiece. With the help of this information, the robot or a separate conveyor unit can search for a suitable workpiece (e.g. on a pallet or in a material store).
  • the actual geometric dimensions and/or the shape of the respective workpiece are recorded.
  • This can be done by using laser distance sensors, laser cut sensors, lidar sensors, ultrasonic sensors, depth cameras, cameras or touch sensors, among others.
  • the corresponding sensors can be arranged on the manipulator of the construction robot or on a base platform.
  • the individual dimensions can be determined before or after the workpiece is picked up by the construction robot.
  • the search for a respective workpiece can also be carried out with the aid of the sensor or the sensor device.
  • the current actual dimensions of the construction object can be determined either by the sensors of the construction robot or a separate measuring device (e.g. total station or an unmanned flying object/drone). Suitable sensors can be present there for this purpose.
  • the dimensional deviations after the laying or assembly of the respective workpiece can be calculated before the respective workpiece is laid and/or assembled.
  • information on the construction process can be included, which, among other things, provides information on the joint and gap dimensions.
  • the information about the construction process can also be part of the digital construction plan or construction project model, but can also be defined separately.
  • the information on the joint and gap dimensions can also be included in the nominal dimensions.
  • Various criteria can be used for the decision, which also take into account the uncertainties of the determined actual dimensions and the calculated dimensional deviations. It is also possible to take into account at least one other sensor or sensor device that was detected when determining the actual dimensions and to compare it with the corresponding nominal dimensions, taking into account the tolerance dimensions of the digital construction project, in order to determine whether a respective workpiece is suitable before it is laid and/or mounting is processed or not.
  • the workpiece needs to be adjusted, it is adjusted using one or more processing devices, which can be integrated on the construction robot. After editing it can
  • Workpiece can be measured again in the sense of a processing control and, if necessary, processed again (iterative process). The workpiece is then installed by the robot.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • General Business, Economics & Management (AREA)
  • Marketing (AREA)
  • Primary Health Care (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

Procédé selon lequel un plan de construction numérique ou un modèle d'objet de construction numérique est enregistré dans une unité d'évaluation et de commande électronique, ledit plan de construction numérique ou modèle d'objet de construction comportant des dimensions nominales et des tolérances dimensionnelles de l'objet de construction respectif, dont au moins les dimensions externes de pièces, ces dimensions externes étant pertinentes pour l'objet de construction respectif. Au moins un capteur permet de déterminer les dimensions réelles actuelles du projet de construction respectif et de les céder à l'unité d'évaluation et de commande électronique. Un robot constructeur permet d'exécuter la recherche de la prochaine pièce de construction à poser. Une fois cette pièce trouvée, les dimensions externes, pertinentes pour le processus de construction, de la pièce sont déterminées puis les écarts par rapport à la cote sont calculés et enfin il est décidé si la pièce respective est posée et/ou montée à un emplacement correspondant au modèle de projet de construction ou bien si elle est préalablement usinée pour que ses dimensions externes une fois posée et/ou installée à l'emplacement respectif soient comprises dans les limites des tolérances dimensionnelles.
PCT/EP2021/070389 2020-07-23 2021-07-21 Procédé d'exécution d'un processus de construction lors de l'érection d'un ouvrage de construction à l'aide d'au moins un robot constructeur Ceased WO2022018137A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21748594.5A EP4185754B1 (fr) 2020-07-23 2021-07-21 Procédé d'exécution d'un processus de construction lors de l'érection d'un ouvrage de construction à l'aide d'au moins un robot constructeur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020209308.3 2020-07-23
DE102020209308.3A DE102020209308A1 (de) 2020-07-23 2020-07-23 Verfahren zur Durchführung eines Bauprozesses bei der Errichtung eines Bauwerks mit Einsatz mindestens eines Bauroboters

Publications (1)

Publication Number Publication Date
WO2022018137A1 true WO2022018137A1 (fr) 2022-01-27

Family

ID=77126829

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/070389 Ceased WO2022018137A1 (fr) 2020-07-23 2021-07-21 Procédé d'exécution d'un processus de construction lors de l'érection d'un ouvrage de construction à l'aide d'au moins un robot constructeur

Country Status (3)

Country Link
EP (1) EP4185754B1 (fr)
DE (1) DE102020209308A1 (fr)
WO (1) WO2022018137A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018063100A2 (fr) * 2016-09-30 2018-04-05 Eth Singapore Sec Ltd Système de placement d'objets sur une surface et procédé associé
WO2020097516A1 (fr) * 2018-11-08 2020-05-14 The Regents Of The University Of Michigan Construction modulaire de structures porteuses à partir d'éléments porteurs réutilisables

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018183951A1 (fr) * 2017-03-31 2018-10-04 Canvas Construction, Inc. Système et procédé automatisés de planification de plaque de plâtre
DE102018200221A1 (de) * 2018-01-09 2019-07-11 Robert Bosch Gmbh Verfahren zur Baustellenüberwachung
WO2020014793A1 (fr) * 2018-07-19 2020-01-23 Form Robotics Inc. Système et procédé pour automatiser la construction et l'installation de surfaces en construction
US11145085B2 (en) * 2019-01-25 2021-10-12 Social Construct Company Systems and methods for automating installation of prefabricated parts using projected installation graphics

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018063100A2 (fr) * 2016-09-30 2018-04-05 Eth Singapore Sec Ltd Système de placement d'objets sur une surface et procédé associé
WO2020097516A1 (fr) * 2018-11-08 2020-05-14 The Regents Of The University Of Michigan Construction modulaire de structures porteuses à partir d'éléments porteurs réutilisables

Also Published As

Publication number Publication date
EP4185754B1 (fr) 2023-11-22
DE102020209308A1 (de) 2022-01-27
EP4185754A1 (fr) 2023-05-31

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