CONSTRUCTION SYSTEM

Abstract

Construction system, particularly for operation by an end-user, comprising a robot device configured for constructing a wall and/or pillar structure, and at least one marking device for defining the course, form and/or position of a wall and/or pillar structure, wherein the marking device is detectable by the robot device, and wherein the robot device is configured to construct a wall and/or pillar structure at and/or along the marking device.

Claims

1.-46. (canceled)

47. A construction system for operation by an end-user, comprising: a robot device configured for constructing a wall and/or pillar structure; and at least one marking device for defining a course, form and/or position of the wall and/or pillar structure, wherein the marking device is detectable by the robot device, and wherein the robot device is configured to construct the wall and/or pillar structure at and/or along the marking device.

48. The construction system according to claim 47, wherein the marking device is configured as and/or comprises an elongated and/or flexible device and/or is configured to be laid out by an end-user along an intended course and/or position of the wall and/or pillar structure.

49. The construction system according to claim 47, wherein the marking device comprises a feature marker for marking the position of features and/or extensions and/or interruptions or gaps of the wall and/or pillar structure to be built, and/or wherein the marking device comprises a storage marker for marking the position of a material storage for construction material and/or wherein the marking device comprises a supply marker for marking the position of a power supply and/or a water supply connection.

50. The construction system according to claim 47, further comprising a platform providing a driving and/or rolling surface for the robot device, the platform consisting of a plurality of platform elements, and/or wherein the platform is connected with the marking device and/or wherein the platform comprises a storage section for storing construction material and/or wherein the platform comprises at least one elevation ramp and/or elevation element for providing a driving and/or rolling surface on an elevated level.

51. The construction system of claim 50, wherein the elevated level is elevated relative to at least one further platform element.

52. The construction system according to claim 47, wherein the robot device is configured for constructing the wall and/or pillar structure from solid material pieces and a string for jamming said solid material pieces and/or wherein the robot device is configured for constructing the wall and/or pillar structure with a supporting portion and a covering portion for covering the supporting portion, the supporting portion being provided by the solid material pieces and at least one string for jamming at least some of the solid material pieces and the covering portion comprising at least one covering device, wherein the robot device is configured for attaching the string to the at least one covering device.

53. The construction system according to claim 47, wherein the robot device is configured for following the marker device and for reading markers and/or for drawing a contour of the wall and/or pillar structure into a map and/or for creating a 3D model of the environment.

54. The construction system according to claim 53, wherein the 3D model and/or pictures of the ground for the wall and/or pillar structure to be build are submitted to a provider and/or cloud for data analysis for auto-mated data analysis and/or manual data analysis by an expert.

55. The construction system according to claim 47, further comprising an ordering device for ordering construction material based on the data collected by the robot device and/or further analyzed and/or wherein the robot device is configured to detect and/or identify delivered construction material and/or initiating opening sequences for material packages.

56. The construction system according to claim 47, wherein the robot device comprises a robot configured with a serial kinematic arrangement, and/or a mobile platform for moving a robot.

57. The construction system according to claim 56, wherein the robot and/or the mobile platform comprises a sensor device for detecting the marking device and/or a detection device for detecting packaged material and/or material packages with or without detection markers.

58. The construction system according to claim 47, wherein the robot device is provided with an end-effector configured as a gripper and/or with a drive tool for driving a string for unwinding a string material and/or for driving a string material out of a string package, and/or wherein the gripper is configured for gripping solid material pieces, and/or said drive tool for driving a string and/or wherein the gripper is electrically operated.

59. The construction system according to claim 58, wherein the solid material pieces are stones.

60. The construction system according to claim 47, wherein the robot device is configured for collecting, storing and/or transmitting block chain related data about solid material pieces embedded within the wall and/or pillar structure.

61. The construction system according to claim 47, further comprising an anti-theft protection device for the robot device, said anti-theft protection device being provided by a security wire, and/or wherein the robot is configured for automated attachment to and/or detachment from an anti-theft protection device.

62. A robot device for a construction system according to claim 47, the robot device being configured for constructing the wall and/or pillar structure with a supporting portion and a covering portion for covering the supporting portion, the supporting portion being provided by solid material pieces and at least one string for jamming at least some of the solid material pieces and the covering portion comprising at least one covering device and the string and the covering device being attached to each other.

63. A planning and/or operation device, comprising an application for planning the course and/or size of a wall and/or pillar structure to be built, for receiving data from a robot device and/or for initiating the purchase and/or delivery of construction material and/or construction equipment.

64. The planning and/or operation device of claim 63, wherein the device is a smartphone or a tablet.

65. A method for operation of the construction system according to claim 47, comprising at least the steps of: laying out the marker device for defining a contour and/or position of the wall and/or pillar structure to be built, placing the robot device close to and/or at the marker device, and constructing the wall and/or pillar structure along and/or at the marker device.

Description

[0142] The features and advantages of the various embodiments of the present invention will, in the following, be described with reference to the Figures.

[0143] FIG. 1 shows a schematic plan view of a marking device and an adjacent construction according to embodiments of the present invention,

[0144] FIG. 2 shows a side view of a robot device according to an embodiment of the present invention,

[0145] FIG. 3 shows a schematic view of a gripper of a robot device according to an embodiment of the present invention,

[0146] FIG. 4 shows a schematic side view of the gripper of FIG. 3,

[0147] FIG. 5 shows a schematic view of a drive tool according to an embodiment of the present invention,

[0148] FIG. 6 shows a schematic view of a string device according to an embodiment of the present invention,

[0149] FIG. 7 shows a schematic view of the string device of FIG. 6 arranged in a vertical position,

[0150] FIG. 8 shows a schematic view of the string device of FIG. 6 arranged in a vertical position with a drive tool attached,

[0151] FIG. 9 shows a schematic view of the gripper of FIGS. 3 and 4 with a drive tool and string bag arranged between the gripper fingers,

[0152] FIG. 10 shows a schematic flow diagram of a method according to an embodiment of the present invention.

[0153] The upper side of FIG. 1 shows a schematic plan view of a construction 10 according to an embodiment of the present invention. The construction 10 may particularly be a wall or pillar or any other type of architectural structure.

[0154] The construction 10 comprises a supporting portion 12 and a covering portion 14 for covering the supporting portion 12. The supporting portion 12 may be provided by solid material pieces 16 and at least one string 18 for jamming at least some of the solid material pieces 16. The covering portion 14 comprises at least one covering device 20, preferably a plurality of covering devices 20. The string 18 and the covering devices 20 are attached to each other, which is described in more detail below.

[0155] The covering portion 14 is arranged around the supporting portion 12 on a plurality of sides of the supporting portion 12. In particular, the covering portion is arranged around the supporting portion 12 on vertically extending sides. The covering portion 14 may provide a cast for the supporting portion 12, particularly a cast for a compound of the solid material pieces 16 and the string 18 of the supporting portion 12.

[0156] It may be comprehended from FIG. 1 that the covering devices 20 are larger than the solid material pieces 16, and may also be made from a different material and/or have a different optical appearance than at least some of the solid material pieces 16 of the supporting structure 12. The solid material pieces 16 may particularly be provided as crushed rocks, angular rocks, granular stone material and/or broken stones. It is also possible that the solid material pieces 16 are made from and/or contain glass material and/or glass gravel and/or glass chippings. The solid material pieces 16 may be jammed and/or stamped and/or compressed, preferably for increasing a jamming effect.

[0157] As may further be comprehended from FIG. 1, the string 18 may be at least section wise laid within and/or throughout the supporting portion 12 and/or between the solid material pieces 16 and/or loosely laid and/or at least section wise tightened, preferably for increasing a jamming effect. The string 18 may be arranged in a pattern alternatingly running between a central area 22 of the supporting portion 12 and different covering devices 20.

[0158] The solid material pieces 16 of the supporting portion 12 may be compressed and/or stamped against the covering portion 14 and/or against the covering devices 20 and/or while being held and/or limited by the covering devices 20. At the same time, the covering portion 14 may allow shifting and/or movements of the solid material pieces 16. Furthermore, the covering portion 14 and/or the covering devices 20 may be fixed and/or held by the supporting portion 12, preferably by the compressed and/or stamped and/or jammed solid material pieces 16 and/or by the string 18, particularly by a compound made of the solid material pieces 16 and the string 18.

[0159] The covering devices 20 may be made of and/or comprise a stone and/or glass and/or metal material. The at least one covering device 20 may comprise a visible side 24 facing away from the supporting portion 12 and furthermore a functional side 26 facing the supporting portion 12. The string 18 is attached to the covering device 20 at the functional side 26.

[0160] The attachment between the string 18 and the at least one covering device 20 may be provided via a form fit and/or non-positive connection and/or via an adhesive. The covering device 20 may comprise at least one outer component 28 and an attachment element 30 for the attachment with the string 18. The attachment element 30 may be provided on the functional side 26, whereas the visible side 24 faces away from the attachment element 30. The attachment element 30 may be configured as a hook and/or eye and/or notch, to which the string 18 is attached and/or hooked.

[0161] The lower side of FIG. 1 shows a marking device 32 for defining the course, form and/or position of a construction 10, such as a wall and/or pillar structure. Such marking device 32 may, for example, be a sensor wire or cord or strap or belt, and may be purchased by an end-user and laid out on a private property.

[0162] The marking device 32 may be is equipped with a measure scale, not shown here, which can be detected by humans and/or a robot device 34, as shown in FIG. 2 and discussed in greater detail below. The marking device 32 and the robot device 34 may constitute a construction system within the meaning of the present invention

[0163] The marking device 32 may further comprise a start marker 36 for defining the start and/or position of a wall and/or pillar structure. Furthermore, the marking device 32 may comprise an end marker 38 for defining the end and/or position of a wall and/or pillar structure. The markers 38 and 38 may be placed on the marking device 32 and may be read by humans and/or a robot device 34.

[0164] As may further be comprehended from FIG. 1, a platform 40 may be provided adjacent to the marking device 32. The platform 40 may be connected to the marking device 32, and may comprise a plurality of platform elements 42. The platform 40 may provide a driving and/or rolling surface for a robot device 34, and protect the wheels of a robot device 34 from a muddy underground and the underground does not get stressed, if the robot device requires many passing.

[0165] Furthermore, the platform 40 may comprise a storage section 44 for storing construction material, such as covering devices 20. The storage section 44 may be as long as the marking device 32 and/or as long as a construction 10 to be built, thus, many material pieces, such as stones or covering devices 20 may be accessible for the robot device 34 at the same time and can be chosen according to parameters like form, transparency, colour and/or centre of gravity. If the stones feature a hook as an assembly position, such as the case in the covering devices 20, it should be made possible, that the hook is attached to a fixed and/or specific position on the storage section 44.

[0166] FIG. 2 shows a side view of a robot device 34 according to an embodiment of the present invention. The robot device 34 may comprise a mobile platform 46 and a robot 48. The robot 48 may be configured with a serial kinematic arrangement, and be equipped with an end-effector 50. The end-effector may be configured as gripper 52, as will be discussed with reference to FIGS. 3 and 4 in greater detail below.

[0167] The robot 48 may be arranged on the mobile platform 46 for being moved along a pathway. The mobile platform 46 may be equipped with wheels 54, which may be driven and/or not-driven wheels. Furthermore, the mobile platform 46 may comprise and/or be connected to an extension or trailer 56. The mobile platform may also comprise a sensor device 47, at least for detecting the marking device 32.

[0168] The mobile platform 46 may furthermore be equipped with one or a plurality of containers 58, 60, and 62. The container 58 may be a storing box for rain protection, in particular for rain protection of the robot 48. In case of rain, the robot 48 may move itself and/or its arm into the container 58, which may subsequently be closed. Containers 60 and 62 may be storage containers for construction material, such as solid material pieces 16 and/or covering devices 20. Furthermore, string devices, which will be discussed in the following in greater detail, may be arranged on the trailer 56.

[0169] FIG. 3 shows a schematic view of a gripper 52 of a robot device 34 according to an embodiment of the present invention, and FIG. 4 shows a schematic side view of the gripper 52 of FIG. 3. The gripper 52 comprises a robot flange 64 for connecting the gripper to the robot 48. The gripper 52 further comprises a housing 66, and two gripper fingers 68. The gripper fingers 68 comprise a gripping portion 70, which may have the form of a gripper hand. The gripping portion 70 may comprise a depression 72, which may allow grabbing multiple stones or solid material pieces from a container 60 or 62. Also, the depression 72 can be applied to grab a single larger stone from a container 60 or 62, such as a covering device 20 for the covering portion 14.

[0170] Furthermore, the gripping portion 70 may comprise a coupling section 74 for coupling with a drive tool 76, which is discussed with reference to FIG. 5 in greater detail. The drive tool 76 may have a cylindrical overall form, in order to fit to the coupling section 74. In particular, the drive tool 76 may have a coupling portion 78 for coupling with a coupling section 74 of the gripping portion 70. The drive tool 76 comprises furthermore a guiding portion 80 for a string. The guiding portion 80 may be a hole or opening between two body halves 82. The body halves 80 may be moved relative to each other or opening and/or closing operations.

[0171] The drive tool 76 comprises also driving wheels 84, which may be pressed by tensioning elements 86, such as springs, together. The driving wheels 84 may be connected to electrical motors. The drive tool 76 may be configured for wireless operation. It may comprise a battery and wireless communication components for interaction with the robot 46 and/or robot device 34. The command to activate the driving wheels 84 and lay out string may accordingly be submitted via wireless communication.

[0172] FIG. 6 shows a schematic view of a string device 88 according to an embodiment of the present invention. The string device 88 may comprise a string 90, a package 92 for said string 90 and two connector end pieces 94 and 96 attached to the ends of said string 90. The string 90 may be rolled and/or folded within the package 92. The package 92 may have the size of a palm.

[0173] The string 90 may be guided through a guide through opening 98 of said package 92 and the connector end piece 94 may be arranged within the package 92, and the connector end piece 96 may be arranged outside the package 92. The package 92 may be a bag or made from a thin layer material.

[0174] The connector end pieces 94 and 96 may each comprise a strong magnet. Thus, the string 90 of string device 88 can be connected to another string 90 of another string device 88 to form a thread of arbitrary length.

[0175] The string device 88 may further comprise a guiding device 100 for said string 90, preferably a guide through pipe, being attached to the package 92 and/or extending from the guide through opening 98 of the package 92. Said guiding device 100 may be attached to the package 92 via an attachment flange 102.

[0176] The connector end piece 94 may be larger than the guiding device 100 and/or the opening 102 to prevent the string 90 from a complete unthreading. In a preferred solution, the end of the guiding device 100 comprises a nozzle to guide the string out of the guiding device 100. In another preferred solution, the connector end piece 96 is safely located in front of the guiding device 100, e.g. by a press fitting to prevent unintended dislocation. The guiding device 100 comprises an exposing portion 104 which is exposing the string 90. The string 90 may be engaged by a drive tool 76 via the exposing portion 104. The drive tool 76 may drive and/or pull the string 90 with a defined speed out of the package 92.

[0177] Furthermore, the string device 88 may comprise an attachment portion 106 for the attachment of a drive tool 76, preferably configured as platform device, and/or wherein the attachment portion 106 and the guiding device 100 are fixedly attached to one another and/or provided as an integral component. To identify the string device 88 and/or the guiding device 100 and its corresponding position and orientation, an identification device 106 may be provided. The identification device may be arranged on the attachment portion 106.

[0178] When the string 90 is pulled out of the package 92, the connector end piece 94 is blocked at the entrance to the guiding device 100 and/or at the opening 98. The drive tool 76 would detect that the string 90 is stopped by sensing force or motion. The robot 48 can now detach the drive tool 76 from the guiding device 100 and/or from the attachment portion 106, leave the empty package 92 on top of the unfinished construction structure. The robot 48 may now grab a new string device 88 from a storage bin or container 60 or 62 and mount the drive tool 76 to a new string device 88. To do that, the robot 48 may first grabs randomly any string device 88 from a bin or container 60 or 62. Subsequently, the attachment portion 106 and/or guiding device 100 of said string device 88 may be arranged vertically in a clamping or holding device 110, as shown in FIG. 7. The robot 48 may now detach from the string device 88. Now, the identification device 108 can be scanned and the robot 48 can attach the drive tool 76, as shown in FIG. 8.

[0179] To connect a new string device 88 to an old one, the robot 48 may grabs the new string device 88 and/or drive tool 76 on the clamping device 110. Through this, position and orientation of the connector end piece 86 in front of the guiding device 96 is defined. A sensor is applied to detect the guiding device 100 of an empty string package 92 and/or a used string device 88. By identifying the identification device 108, the pose of the connector 94 inside of the old package 92 can be calculated. The robot now just moves the connector end piece 96 of the new string device to the connector end piece 94 inside the old package 92 and the magnetic effect attaches both connector end pieces 94 and 96 together, with package material in between. The old package 92 and the old guiding device 100 may remain on and/or within the construction and become covered by stone material. In a preferred solution alternative, the package 92 and the guiding device 100 are made of decomposable material and may remain for several years.

[0180] FIG. 9 shows a side view of the gripper 52 with a string device 88 grabbed by the drive tool 76. The drive tool 76 is precisely attached to the gripper 52 and the package 92 is located within the depression 74 of the gripper fingers 11.

[0181] FIG. 10 shows a schematic flow diagram of a method according to an embodiment of the present invention. The method according to the present embodiment may contain one or a plurality of the following steps 200 to 390.

[0182] In a first step 200, a user may download an application to his smartphone or tablet and/or install same thereon.

[0183] In Step 210, the user may visualize the wall as a draft. In step 220, the user may order a starter package.

[0184] In step 230, the user may select a robot device 34 from the application. The robot device 34 may be subject to buying, renting or sharing.

[0185] In step 240, package may be delivered. Such package may contain a robot 48 and/or a mobile platform 46, a marking device 32, such as sensor wire, particularly about 20 m of sensor wire, a plurality of predefined markers and/or a plurality of user defined markers.

[0186] In step 250, package the marking device 32 may be installed locally, for example, a front yard or private property.

[0187] In step 260 the robot device 34 may be installed. For installation, a setup may be followed, connection to WLAN established, and charging of a robot battery conducted. Furthermore, two boards may be stored on wheels 54 to establish the mobile platform 46 with the trailer 56.

[0188] In step 270, the robot device 34 may be connected or brought into a sensing connection with the marking device 32 for activation.

[0189] In step 280, the construction draft may be updated. The robot device 34 may follow the marking device 32 and measure distances. A construction map, such as a wall or pillar map, may be updated, and a cost plan may be updated. Also, the robot device may scan a construction ground and update a ground map.

[0190] In step 290, a big bag location may be flagged. The robot device 34 may place flags for a precise position for bags, and the location of big bags may be updated on a map.

[0191] In step 300, the user may confirm and order a wall and/or pillar structure and/or the components and material therefor. A cost plan and construction plan may be acknowledged, a map is updated, and user may confirm that big bag locations can be reached with a crane from a public and/or private street or road.

[0192] In step 310, the user may order material. Material and part order may be conducted to build a storage area. Furthermore, the user may order a big bag containing material for a supporting portion (inner compound) of a wall and/or pillar structure, and also a big bag containing material for a cover portion (outer compound) of a wall and/or pillar structure.

[0193] In step 320, material may be delivered. A crane operator may place big bags, and a sensor of the robot device 34 may confirm arrival. The robot device 34 may scan bag position and may accept the delivery.

[0194] In step 330, a storage area for string devices 88 may be built. The robot device 34 may use string devices 88 from mobile platform 46, and builds a wall and/or pillar structure as high as a mobile platform 46. An outer compound is optional and not required for a storage area.

[0195] In step 340, string devices 88 may be ordered, particularly in a large amount.

[0196] In step 350, string devices 88 may be delivered. Postal service may deliver string devices 88, and the robot device 34 may await string device delivery. A sensor may track package location, and the robot device may communicate with a parcel carrier to place string devices 88 on roll board on mobile platform 46 or trailer 56.

[0197] In step 360, string devices 88 are stored. The big bag with string rolls 88 may be heavier than robot device payload. The mobile platform 46 and/or trailer 56 may be positioned next to a storage area, and the robot device 34 may press and/or pull a big bag over onto the mobile platform 46 and/or trailer 56 for further use.

[0198] In step 370, all necessary materials are made available and/or commissioned. String material as well as solid material pieces (stones) and covering devices are available, particularly in big bags.

[0199] In step 370a, the materials for a supporting portion 12 (inner compound) of a construction is placed on a mobile platform 46 or trailer 56. A shovel-tool may be applied to load small stones from big bag to a box onto the mobile platform 46 or trailer 56. Up to 200 kg of stones may be stored on a mobile platform 46 or trailer 56.

[0200] In step 370b, the materials for a covering portion 14 (outer compound) are placed along the marking device 32. Stones or covering devices 20 are grabbed out of big bag utilizing a gripper and a camera system. The ID of each stone or covering device 20 is read, and data on cloud is searched. If not available, the respective stone or covering device 20 is scanned. This may be repeated with a plurality of stones or covering devices 20, and the stones or covering devices 20 are positioned along the marking device 32 in predefined location.

[0201] In step 370c, a string device 88 is grabbed from a string storage, and attached to a drive tool 76 with to enable winding up or unwinding of the respective string 90.

[0202] In step 380, commissioning is finished.

[0203] In step 390, the construction 10, particularly a wall and/or pillar structure, may be constructed. The construction 10 may be built in segments.