Methods for planning and manufacturing buildings or building sections, and computer program products.

Abstract

The present invention relates to a method (100) for generating building plots (56) and / or building plans (36) using a planning system (40), wherein at least one mechanical property (38) of a mobile power tool (10) is input to the planning system (40) via a data interface (54) for inputting at least one mechanical property (38) to the planning system (40). The present invention further relates to a computer program product (52) and the planning system (40).

Description

Technical Field

[0001] The present invention starts with a method of generating a plan for building components by a planning system.

Background Art

[0002] Generally, building components are pre-planned, especially when constructing a composite building, for example, an office complex. For example, the necessary construction elements of the building system and the subsequent paths of the building components or the above elements within the building are planned. Such planning may significantly affect subsequent construction implementation, especially the manufacturing time and manufacturing cost of the building components or the building to be constructed.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Therefore, an object of the present invention is to provide a method and at least one auxiliary means for generating a plan by a planning system that enables subsequent construction implementation with little time consumption and / or low manufacturing costs, and it is desirable to provide it.

Means for Solving the Problems

[0004] The present invention relates to a method for generating a plan of building components using a planning system, wherein at least one mechanical property of a mobile power tool is input to the planning system via a data interface to input at least one mechanical property to the planning system. This makes it possible to plan building components while taking mechanical properties into consideration. For example, this makes it possible to use the mobile power tool more frequently and / or with fewer interruptions, and / or to actually use the mobile power tool even for a short time. Thus, for example, it is possible to improve the degree of automation of construction implementation. In particular, since the planned construction components cannot be simply manufactured using available means, especially mobile power tools, it is possible to avoid subsequent plan revisions, which are generally particularly costly and time-consuming. As a result, it is possible to reduce the manufacturing cost and / or manufacturing time for manufacturing building components.

[0005] The plan may include a CAD model, in particular a building information model (hereinafter referred to as a "BIM" model). Building components can be interpreted as parts of a building, in particular parts of a ground-level building, or even the building as a whole. Building components may be, for example, walls, ceilings, and / or floors. They may be building components composed mainly of concrete, wood, and / or steel. They may be building components constructed on land and / or in, on, or above bodies of water. The method can be used particularly advantageously in the case of tall buildings, such as skyscrapers or oil platforms, because the efficiency advantages are particularly extensive in such cases.

[0006] Mobile power tools may include, and / or include, drilling machines for drilling concrete, such as hammer drills, chisel machines, sawing machines, grinding machines, setting machines, such as nail guns or screw mounting devices.

[0007] In one class of embodiments, the mobile power tool is designed as a construction robot. The construction robot may be configured to perform construction work on ceilings, walls, and / or floors. It may be designed for drilling, cutting, chiseling, grinding, and / or setting structural elements. The construction robot may have a manipulator. The manipulator may be designed as a robotic arm. The mobile power tool can also be considered a transport robot for transporting consumables, tools, etc., on a construction site. The manipulator may also have a lifting device. The lifting device can increase the size of the work volume that can be reached by the manipulator. The manipulator may have at least three degrees of freedom. In particular, the manipulator may have at least six degrees of freedom. An end effector may be formed on and / or positioned on the manipulator. The end effector may include a power tool and / or a tool. For example, the end effector may have a power tool. The power tool may be, for example, one of the machines or devices described above, and / or may include such a device. The end effector and / or power tool may also be designed for marking. For example, the end effector may have a paint spraying device.

[0008] The end effector and / or power tool may also have an image recording unit, such as a camera or LiDAR. The power tool may then be configured to capture and store images of the surroundings, evaluate them, and / or pass them on for evaluation. This may be useful, for example, for documentation purposes, such as documenting the progress of construction.

[0009] Construction robots may also have mobile platforms. Mobile platforms may include wheeled and / or tracked chassis. Mobile platforms may have at least two degrees of freedom. Construction robots as a whole may have at least ten degrees of freedom. Alternatively or additionally, mobile platforms may include flying platforms. In other words, construction robots may also be designed as unmanned aerial vehicles.

[0010] Several studies have shown that the usefulness of such mobile power tools designed as construction robots can depend on the extent to which they can be used. The more mobile power tools can be used, the more economical their use can be overall. This can be particularly important because such mobile power tools have inherently higher manufacturing costs compared to, for example, simple handheld power tools.

[0011] The data interface may include user-controlled elements for the user to input at least one dataset. The data interface may also be designed to query internet resources. Similarly, the data interface may be designed to read file data sources for input, such as CSV files, XML files, or files based on the "Industry Foundation Class" standard.

[0012] The construction sequence is often planned between the creation of the plan and the actual construction. This construction sequence plan defines the time steps in which building components are constructed in stages. For each time step, the relevant use of resources, particularly the use of available mobile power tools, may be planned. It is very often discovered, either within the context of this construction sequence plan or only during actual construction, that building components cannot be constructed as planned, or can only be constructed with additional expenditures using mobile power tools. The plan then needs to be revised, which may inevitably involve considerable additional expenditures.

[0013] Therefore, it is particularly advantageous to ensure that, before the start of the construction sequence planning, and especially during the planning, the building components are planned according to at least one mechanical characteristic, thereby ensuring that the planning can be carried out from the outset using mobile power tools.

[0014] In particular, it is conceivable to select construction elements to be installed on and / or within building components according to at least one mechanical property. For example, in the case of a mobile power tool designed as a construction robot and equipped with a masonry drill, the maximum permissible weight of the masonry drill, and therefore, for example, the maximum diameter that can be drilled, may be limited. For example, if a support element is provided on the ceiling as a building component to allow a line to be fixed onto the support element, the selection of the support element may be limited to support elements that can be fixed by anchors corresponding to at most the maximum diameter that can be drilled. It is also conceivable to select a certain number of construction elements, in this case support elements, according to a mechanical property, in this case, for example, the maximum possible diameter. For example, it is conceivable to provide multiple construction elements to suit the mechanical property, i.e., in this example, multiple support elements instead of a single construction element that does not suit the mechanical property.

[0015] Mobile power tools designed as construction robots may have their own unique work zones. The work zone may depend, for example, on the length and / or number of degrees of freedom of the manipulator. Mobile power tools may be used when the work position to be reached is within their work zone, or when the mobile power tool can be positioned so that the planned work position is covered within its work zone. Therefore, it may be advantageous when the length, width and / or height and / or clearance relative to building components are defined according to at least one mechanical characteristic. In particular, clearance relative to building components may be relevant.

[0016] In one class of methods, before the start of construction sequence planning, a check may be performed, particularly against existing plans, to determine whether the plan conforms to at least one mechanical characteristic. For example, this check may be performed as part of a quality and / or safety check for approval by some other party, such as a separate planning system. If the test results are negative, the plan may then be returned to the other party for revision.

[0017] If at least one mechanical characteristic of each of at least two different mobile power tools is input into the planning system, the plan can be optimized not only with a view to optimizing the use of the mobile power tools, but also, in addition, to further optimize the selection between at least two different mobile power tools, for example, for subsequent construction implementation and / or construction sequence planning, as well as for construction sequence planning and / or construction implementation.

[0018] The advantages of this method can be particularly useful when planning mechanical, electrical, or pipefitting (MEP) systems. MEP systems may include mechanical, electrical, or fluid handling systems. For example, MEP systems may refer to cooling / heating systems, supply and waste systems, electrical systems, water supply and drainage, intake and / or exhaust systems, etc.

[0019] The scope of the present invention further encompasses a computer program product for generating a plan according to the method described above, wherein the computer program product has a data interface for inputting at least one mechanical characteristic into the planning system.

[0020] Computer program products can take the form of program code. They can also be stored on data carriers, such as portable data carriers like memory sticks. Furthermore, computer program products can be stored on computer systems, such as cloud-based computer systems. From there, they can be downloaded, for example, via the internet or some other data link.

[0021] The scope of the present invention also encompasses a planning system having the computer program product described above. The planning system may include a computer. The computer may have a memory, a microprocessor, and input and output devices. The computer program product may be stored on a computer so as to be executable thereon. Accordingly, the method described above may be executed by a computer program product being executed on a computer.

[0022] The data interface may have one or more of the features described above with reference to the data interface.

[0023] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention and the claims, with reference to the figures of the drawings which show details essential to the present invention. The features shown therein are not necessarily to scale and are shown so as to clearly view particular features according to the present invention. The various features may be implemented individually by themselves or collectively in any combination in variations of the present invention.

[0024] Exemplary embodiments of the present invention are shown in schematic diagrams and will be described in detail in the following description.

Brief Description of the Drawings

[0025] [Figure 1] Shows a mobile power tool designed as a construction robot. [Figure 2] Shows a planning system. [Figure 3] Shows a flowchart of a method for generating a plan.

Modes for Carrying Out the Invention

[0026] In the following description of the figures, the same reference numerals are used in each case for identical or functionally corresponding elements to facilitate understanding of the present invention.

[0027] Figure 1 shows a mobile power tool 10 designed as a construction robot. The mobile power tool 10 has a chassis 12 designed as a tracked chassis. The control space 16 is formed within the housing 14 of the mobile power tool 10. In Figure 1, the control space 16 located within the housing 14 is shown only schematically.

[0028] The mobile power tool 10 has a first manipulator 18 and a second manipulator 19 on the upper side of the housing 14. The manipulators 18 and 19 are designed as multi-axis controllable arms. The first end effector 20 and the second end effector 21 are located at their free ends, respectively.

[0029] A screw mounting device 22, in particular a screw mounting device equipped with a screw magazine, is positioned on a first end effector 20. A bracket 24 having a gripper 25 is positioned on a second end effector 21. The gripper 25 may have at least one controllable suction cup.

[0030] The second manipulator 19, together with its bracket 24, is configured to hold the construction element in place. For this purpose, the gripper 25 can selectively pick up, hold, or release the construction element.

[0031] The mobile power tool 10 further comprises an image recording unit 26 for optical recording and an image processing unit 28 for processing the recorded images. The image recording unit 26 has RGB and time-of-flight sensors, thus enabling the image recording unit 26 to record color images including depth information. The image processing unit 28 is part of the controller 30. The controller 30 is located within the housing 14, particularly within the control space 16. Therefore, the controller, and especially the image processing unit 28, are shown schematicly only in Figure 1. The mobile power tool 10 is designed to perform construction work, particularly by positioning construction elements on building components. It is possible to work with floors, ceilings, and walls as building components. Construction work may relate, for example, to building construction sites or civil engineering construction sites.

[0032] The mobile power tool 10 is configured to position and hold construction elements on building components and to attach them to the building components. In particular, it can move construction elements to desired positions by its second manipulator 19, especially by its bracket 24, and can fix them to building components by screwing screw anchors into pre-drilled holes by its first manipulator 18, especially by its screw mounting device 22.

[0033] To perform this type of construction work, the mobile power tool 10 is controlled by a programmable controller 30.

[0034] The controller 30 includes a memory unit 32. The controller 30 is equipped with executable program code 34. For this purpose, the program code 34 may be stored in the memory unit 32 in a retrieval and executable manner. Generally, part or all of the controller 30 may be formed on a remote computer system, such as a cloud-based computer system. Also stored in the memory unit 32 is a plan 36 in the form of a CAD model, particularly a BIM model. The mobile power tool 10 is configured to read the construction tasks to be performed from the plan 36 and to perform them as much as possible.

[0035] The mobile power tool 10 has mechanical properties 38. In Figure 1, these mechanical properties 38 are shown only schematically. They can be collected together, for example, in the form of an XML file.

[0036] Here, the mechanical properties 38 describe characteristics specific to the mobile power tool 10, in particular the boundary conditions under which the mobile power tool 10 can perform construction tasks. The mechanical properties 38 may relate to minimum clearances, for example, the minimum width of gaps in which the mobile power tool 10 is to perform construction tasks. These minimum clearances may be obtained, for example, from the dimensions of the end effectors 20, 21. The mechanical properties 38 may further relate to length data, in particular to maximum and / or minimum height, width and / or depth, area or volume data, etc. These may be obtained, for example, from the technical data of the manipulators 18, 19 and / or from the mobile power tool 10 as a whole. Furthermore, the mechanical properties 38 may include weight data, for example, the maximum allowable bearing load.

[0037] Figure 2 shows a planning system 40. The planning system 40 includes a computer 42. In addition to input devices 44 and output devices 46, the computer 42 has a microprocessor 48 and memory 50. Computer program products 52 are stored in memory 50. Computer program products 52 can be executed on the computer 42, in particular by the microprocessor 48. Computer program products 52 have a data interface 54 for inputting mechanical properties 38 into the planning system 40. For this purpose, the data interface 54 is configured to read and evaluate XML files corresponding to the mechanical properties and to make the acquired data available for further use by the rest of the computer 42.

[0038] Plan 36 is also stored in memory 50. Plan 36 can be created and / or modified on the planning system 40. In the state shown in Figure 2, the output device 46 displays Plan 36. It shows the height h as the distance from the base to the first building component 56 in the form of a steel beam of the ceiling or floor.

[0039] Therefore, in order for the mobile power tool 10 to subsequently perform construction work from below on the first building component 56, the height h must correspond to at least the minimum height of the mobile power tool 10 and at most the maximum height of the highest point that the mobile power tool 10 can reach. In this example, the minimum and maximum heights form some of the mechanical properties 38.

[0040] The planning system 40 may be designed as a local and / or at least partially cloud-based computer system.

[0041] A computer program product 52 can be used to perform a method 100, schematically shown in Figure 3, on the planning system 40 to generate a plan 36.

[0042] In the initialization stage 110 of method 100, the mechanical properties 38 of the mobile power tool 10 (see Figures 1 and 2) are input into the planning system 40 (see Figure 2) via the data interface 54 and read in particular.

[0043] In another initialization stage 120, construction element data of those types of construction elements can be input into, for example, the planning system 40 to finally create the plan 36 (see Figures 1 and 2) or the building components 56 (see Figure 2) to be created.

[0044] In the third initialization stage 130, it is conceivable that major planning data be entered into the planning system 40. Major planning data may include data related to the building components 56 to be created or the entire building to be created, such as the number of floors, the number and type of rooms, and the facilities to be provided.

[0045] During the planning phase 140, the plan 36 is subsequently generated. For this purpose, in the design phase 142, appropriate construction elements are selected, modified, and / or placed from the construction element data according to the main plan data and thus appropriately added to the plan 36. For example, appropriate steel beams are added to the plan 36 to form building components 56.

[0046] In check stage 144, checks are performed to determine whether the state of the plan 36 subsequently achieved conforms to all mechanical properties 38, or whether there are any inconsistencies. For example, checks are performed to determine whether the building component 56 having the selected construction elements has achieved a conforming height, i.e., a height between the minimum and maximum heights. If there are several mobile power tools 10, for example, different types of power tools with mechanical properties 38, it is also possible in this check stage 144 to select which type of mobile power tool 10 can be used to perform which construction task, and / or which construction task it can be best used to perform. In particular, if there are inconsistencies, it is also possible to obtain suggestions on what adaptations can resolve the inconsistencies, and / or what adaptations should preferably be used to resolve the inconsistencies.

[0047] If inconsistencies arise, Plan 36 is adapted in adaptation stage 146. For this purpose, selected construction elements may be removed again and / or replaced with alternative, more suitable construction elements, if necessary. Alternatively, selected construction elements may be modified, for example, shortened. After adaptation is complete, another check may be performed according to check stage 144.

[0048] If a suitable plan is obtained, it is then checked in the final plan check 148 to determine whether the planned overall building components 56 or the entire building are fully planned and / or whether the plan 36 already conforms to all major planning data.

[0049] Initialization stages 110, 120, 130, and one or more of stages 142, 144, 146, 148 may be performed entirely and / or partially manually by a user of the planning system 40. These initialization stages and one or more of stages may also be performed in a fully automated manner, particularly by the planning system 40.

[0050] As a result, the complete plan 36 can therefore be generated by method 100.

[0051] In this example, where the mobile power tool 10 is designed as a construction robot, it is therefore possible to create a plan 36 that is suitable for the mobile power tool 10, and thus enable the mobile power tool 10 to perform at least certain construction tasks.

[0052] Based on Plan 36, the subsequent construction sequence planning stage 150 may involve planning the construction sequence for the building components 56 or the building to be constructed.

[0053] Finally, in construction implementation stage 160, the building components 56 or the building may then be constructed according to plan 36 and construction sequence plan. Along with construction implementation stage 160, a method 100 for manufacturing the building components 56 and / or the building is thus obtained. [Explanation of symbols]

[0054] 10 Power tools 12 Chassis 14 Housing 16 Control Space 18 Manipulators 19 Manipulator 20 End Effectors 21 End Effectors 22 Screw mounting device 24 brackets 25 Grippa 26 Image recording unit 28 Image Processing Unit 30 controllers 32 memory units 34 Program Code 36 Plan 38 Mechanical Properties 40 Planning Systems 42 Computers 44 Input Devices 46 Output Devices 48 microprocessors 50 memory 52 Computer Program Products 54 Data Interfaces 56 Building Components 100 ways 110 Initialization Stage 120 Initialization Stage 130 Initialization Stage 140 Planning stage 142 Design Phase 144 Checking Stage 148 Final plan check 150 Construction sequence planning stage h height

Claims

1. A method (100) for generating building components (56) and / or a building plan (36) by a planning system (40), wherein at least one mechanical property (38) of a mobile power tool (10) is input to the planning system (40) via a data interface (54) for inputting the at least one mechanical property (38) to the planning system (40).

2. The method according to claim 1 (100), characterized in that, before the commencement of the construction sequence planning, the building components (56) are planned according to the at least one mechanical characteristic (38).

3. The method according to claim 2 (100), characterized in that the construction elements used on and / or within the building component (56) are selected according to the at least one mechanical property (38).

4. The method according to claim 3 (100), characterized in that the length of the building component (56), the width and / or height (h) of the building component (56), and / or clearance are defined according to the at least one mechanical property (38).

5. The method according to any one of claims 1 to 4 (100), characterized in that, before the commencement of the construction sequence plan, a check is performed to determine whether the plan (36) conforms to the at least one mechanical characteristic (38).

6. The method according to any one of claims 1 to 4 (100), characterized in that at least one mechanical characteristic (38) of each of at least two different mobile power tools (10) is input into the planning system (40).

7. The method according to any one of claims 1 to 4 (100), characterized in that a mechanical system, an electrical system, or a piping system is planned.

8. A computer program product (52) for generating a plan (36) according to the method (100) of any one of claims 1 to 4, characterized in that it has a data interface (54) for inputting the at least one mechanical property (38) into a planning system (40).

9. A planning system (40) comprising a computer (42) and a computer program product (52) according to claim 8 that can be executed on the computer (42).

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