A block transfer apparatus for transferring a block between an upstream and downstream clamps of a block delivery system. The apparatus includes: a frame pivotally mounted to a support; a clamping assembly mounted to the frame and linearly extendable relative thereto, and including a pair of gripper jaws for clamping opposing sides of the block. The apparatus receives a block in the gripper jaws in an approximate position; rotates to a drop position and releases the block allowing it to self-datum onto first and second orthogonal datum surfaces. The apparatus re-clamps the block after the drop by applying a clamping force to opposing sides of the block to register the block against a third datum surface to thereby datum the position of the block with respect to the clamping assembly; and presents the block clamped in the datumed position for transfer to the downstream clamp.

A block transfer apparatus for transferring a block between an upstream and downstream clamps of a block delivery system. The apparatus includes: a frame pivotally mounted to a support; a clamping assembly mounted to the frame and linearly extendable relative thereto, and including a pair of gripper jaws for clamping opposing sides of the block. The apparatus receives a block in the gripper jaws in an approximate position; rotates to a drop position and releases the block allowing it to self-datum onto first and second orthogonal datum surfaces. The apparatus re-clamps the block after the drop by applying a clamping force to opposing sides of the block to register the block against a third datum surface to thereby datum the position of the block with respect to the clamping assembly; and presents the block clamped in the datumed position for transfer to the downstream clamp.

A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be 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 so that the top of the course is level once laid.

A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be 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 so that the top of the course is level once laid.

A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.

A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.

The present disclosure relates to a tracking system for tracking a position and orientation of an object, the tracking system including: a tracking base provided in an environment, the tracking base including: a tracking head support; and, at least three tracking heads mounted to the tracking head support, a target system including at least three targets mounted to the object, each target including a reflector that reflects a radiation beam to the base sensor of a respective tracking head; and, a control system that: causes each tracking head to track a respective target as it moves throughout the environment; determines a position of each target with respect to a respective tracking head; determines an orientation of the target system using at least in part the determined position of each target; and, determines the position and orientation of the object using at least in part the position and orientation of the target system.

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; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.

A method for designing block layouts for use in block placement during construction, the method including, in one or more electronic processing devices, acquiring plan data indicative of a construction plan, identifying walls and intersections within the construction plan, identifying a number of possible intersection layouts for each intersection, generating different block layouts, each block layout including a combination of intersection layouts, the combination including one of the number of possible intersection layouts for each intersection and at least one wall layout for each wall, the wall layouts being generated based on the combination of intersection layouts and selecting one of the different block layouts.

A method for designing block layouts for use in block placement during construction, the method including, in one or more electronic processing devices, acquiring plan data indicative of a construction plan, identifying walls and intersections within the construction plan, identifying a number of possible intersection layouts for each intersection, generating different block layouts, each block layout including a combination of intersection layouts, the combination including one of the number of possible intersection layouts for each intersection and at least one wall layout for each wall, the wall layouts being generated based on the combination of intersection layouts and selecting one of the different block layouts.