A self-contained truck-mounted brick laying machine (2) is described. A truck (1) supports the brick laying machine (2) which is mounted on a frame (3) on the truck chassis. The frame (3) supports packs or pallets of bricks (52, 53) placed on a platform (51). A transfer robot can then pick up an individual brick and move it to, or between either a saw (46) or a router (47) or a carousel (48). The carousel is located coaxially with a tower (10), at the base of the tower (10). The carousel (48) transfers the brick via the tower (10) to an articulated (folding about horizontal axis (16)) telescoping boom comprising first boom element in the form of telescopic boom (12, 14) and second boom element in the form of telescopic stick (15, 17, 18, 19, 20). The bricks are moved along the folding telescoping boom by linearly moving shuttles, to reach a brick laying and adhesive applying head (32). The brick laying and adhesive applying head (32) mounts to element (20) of the stick, about an axis (33) which is disposed horizontally. The poise of the brick laying and adhesive applying head (32) about the axis (33) is adjusted and is set in use so that the base (811) of a clevis (813) of the robotic arm (36) mounts about a horizontal axis, and the tracker component (130) is disposed uppermost on the brick laying and 110,111 adhesive applying head (32). The brick laying and adhesive applying head (32) applies adhesive to the brick and has a robot that lays the brick. Vision and laser scanning and tracking systems are provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module (47) so that the top of the course is level once laid.

Computer aided design software for designing a building or other structure of brick construction, where in addition to the usual three dimensional modelling and rendering typical of CAD software, tabular data describing the spatial location and orientation of each brick is provided, including information regarding which bricks are cut to length so as to be shortened, and where they are located along each course, and which bricks are machined, drilled or routed for services or other special fittings. Data pertaining to this is compiled in a database for access by control software to control a brick laying machine to build a building or other structure from bricks. The database may receive via interface with a scanner data being a measure of the elevation of the footings and/or concrete pad that has been constructed according to the building plan and for each brick of the first course, to determine how much material must be machined off the bottom of each brick so that when the first course is laid, the tops of the bricks of the first course are at the same level. This machining data is stored for each brick with the tabular data produced by computer aided design software, so that the control software can control the brick laying machine to machine and cut each brick as per the stored data, and convey each brick to the stored position on the footing, pad or previously laid course of bricks, with application of adhesive prior to positioning of the brick.

A control system is described for a base supporting a telescoping articulated boom assembly indicated generally at 15, comprising long telescopic boom 17 and telescopic stick 19. Mounted to the remote end 21 of the stick 19 is an end effector in the form of a head 23 that supports a 6 axis robot arm 25 that moves a further end effector 27 to manipulate the items. The robot arm 25 has a robot base 31, and mounted above the robot base 31 is a first target in the form of a 6 degree of freedom (6 DOF) high data rate position sensor 33, that provides 6 DOF position coordinates, relative to a fixed ground reference 35, to a control system. Mounted on the end of the robot arm 25 immediately above the end effector 27 is a second target in the form of a 6 degree of freedom (6 DOF) high data rate position sensor 37, that provides 6 DOF position coordinates, relative to the fixed ground reference 35, to the control system. The fixed ground reference 35 tracks the sensor 33 and feeds data to the control system to move the head with slow dynamic response within range of work for the robot arm, and tracks the sensor 37 to control movement of the robotic arm 25 and end effector 27 with fast dynamic response.

Computer aided design software for designing a building or other structure of brick construction, where in addition to the usual three dimensional modelling and rendering typical of CAD software, tabular data describing the spatial location and orientation of each brick is provided, including information regarding which bricks are cut to length so as to be shortened, and where they are located along each course, and which bricks are machined, drilled or routed for services or other special fittings. Data pertaining to this is compiled in a database for access by control software to control a brick laying machine to build a building or other structure from bricks. The database may receive via interface with a scanner data being a measure of the elevation of the footings and/or concrete pad that has been constructed according to the building plan and for each brick of the first course, to determine how much material must be machined off the bottom of each brick so that when the first course is laid, the tops of the bricks of the first course are at the same level. This machining data is stored for each brick with the tabular data produced by computer aided design software, so that the control software can control the brick laying machine to machine and cut each brick as per the stored data, and convey each brick to the stored position on the footing, pad or previously laid course of bricks, with application of adhesive prior to positioning of the brick.

A variable footprint handling apparatus (501, 501, 501) for handling containers (105) is described comprising: a first column (555) adapted to be associated with the fifth wheel (530) of a tractor (510), a second column (575) to which a first idle ground support wheel (580) is idly associated, a third column (600) to which a second idle ground support wheel (605) is idly associated, a lifting arrangement (640, 645, 650, 655, 660, 665, 670, 675, 680, 685) for lifting the container (105), and a connection arrangement (620, 630, 635) that connects the second column (575) and the third column (600) to the first column (555) and is configured to move at least one of the three columns with respect to another of the three columns between a first position, and a second position, in which a footprint in plan of the apparatus in said second position is smaller than a footprint in plan of the apparatus in said first position.

A variable footprint handling apparatus (501, 501, 501) for handling containers (105) is described comprising: a first column (555) adapted to be associated with the fifth wheel (530) of a tractor (510), a second column (575) to which a first idle ground support wheel (580) is idly associated, a third column (600) to which a second idle ground support wheel (605) is idly associated, a lifting arrangement (640, 645, 650, 655, 660, 665, 670, 675, 680, 685) for lifting the container (105), and a connection arrangement (620, 630, 635) that connects the second column (575) and the third column (600) to the first column (555) and is configured to move at least one of the three columns with respect to another of the three columns between a first position, and a second position, in which a footprint in plan of the apparatus in said second position is smaller than a footprint in plan of the apparatus in said first position.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

An apparatus includes a height-adjustable gantry assembly configured to be securely connected to a gantry load resting on a working surface. The height-adjustable gantry assembly, in use, lifts and supports the gantry load vertically above the working surface. A movable frame assembly is configured to move and support the height-adjustable gantry assembly.

A hydraulic system for a service vehicle wherein a hydraulic pump is powered by the vehicle engine to energize a hydraulic circuit that can power multiple interchangeable implements and hand tools. The multiple interchangeable implements include a lift assembly mounted to the flatbed of the truck. The lift assembly includes a mini skid steer which is hydraulically lifted on and off the platform of the flatbed. Additionally, the interchangeable implements include a crane arm that is disposed on the flatbed of the truck. Furthermore, the interchangeable implements also include a hydraulic arm assembly with several hydraulic attachments. These attachments may include a bucket, a drill, a breaker and the like.

A hydraulic system for a service vehicle wherein a hydraulic pump is powered by the vehicle engine to energize a hydraulic circuit that can power multiple interchangeable implements and hand tools. The multiple interchangeable implements include a lift assembly mounted to the flatbed of the truck. The lift assembly includes a mini skid steer which is hydraulically lifted on and off the platform of the flatbed. Additionally, the interchangeable implements include a crane arm that is disposed on the flatbed of the truck. Furthermore, the interchangeable implements also include a hydraulic arm assembly with several hydraulic attachments. These attachments may include a bucket, a drill, a breaker and the like.