Method and system for determining the position of a formwork

Abstract

The invention relates to a method and a system (1) for determining the position of a fitted formwork (25), comprising: emitting a locating signal from the fitted formwork (25); receiving the emitted locating signal using a receiver (5) at at least one reference point (3); determining a distance (26) between the fitted formwork (25) and the at least one reference point (3) on the basis of the locating signal received; determining a fitting position (28), compatible with the distance (26) determined, of the fitted formwork (25) on at least one existing formwork (20); and storing the fitting position (28) determined as the position of the fitted formwork (25).

Description

[0001] Method and system for determining the position of formwork

[0002] The invention relates to a method and a system for

[0003] Position determination of a vehicle attached to at least one existing vehicle

[0004] Formwork docked formwork.

[0005] In this context, formwork refers to a single,

[0006] typically a flat element on at least one side for producing a hollow mold for casting concrete parts

[0007] denoted. Such an element typically comprises a

[0008] Formwork panel or formwork board and may optionally have a frame. The formwork panel is usually made of wood,

[0009] For example, plywood or solid wood, and can optionally be coated or sealed. The invention is applicable to any type of formwork, e.g., wall formwork and / or ceiling formwork and / or climbing formwork.

[0010] Such formwork is typically reused several times, often even on the same construction site. Furthermore, different types of formwork are used depending on the requirements of the concrete elements to be cast.

[0011] Different sizes and strengths are used.

[0012] To make optimal use of existing formwork, it is important to track which formwork is used when and where. Based on this information and / or a predefined [guideline / procedure], [further steps / decisions can be made].

[0013] For each formwork phase, or a defined construction process, a demolding time can be determined individually. This provides the information needed to determine which

[0014] Formwork with what dimensions, where and when to be needed

[0015] Reuse becomes possible. This allows for an overview of the existing formwork and an optimization of the total required formwork (i.e., the number) as well as the

[0016] Transport routes for the individual formworks. Furthermore, it is also advantageous to be able to change the positions of the formworks during a

[0017] to track interim storage. This allows conclusions to be drawn for waste management, logistics, and / or construction site operations, and enables the determination of where there is currently space to set up formwork. Accuracy is required for determining the position or location of the formwork, which can be achieved, for example, with UWB (ultra-wideband) technology. This uses signals with a bandwidth of at least 500 MHz and allows for a relatively low transmission power to avoid interfering with already occupied frequency ranges (e.g., 0.5 mW / -41.3 dBm / MHz). These frequency ranges allow for centimeter-accurate indoor localization and integrated data communication. With this technology, multiple reference points (or

[0018] The receivers (or "anchors") for location signals are positioned around a desired area using reference points.

[0019] receive location signals from transmitters (e.g., "tags", "sensors", or "transmitters") and forward the received information (e.g.,

[0020] The transmitter forwards the data (timestamp, signal strength, data content) to a central unit (or "server"). This forwarding can occur in real time (RT) or near real-time (NRT). In this case, it is referred to as a real-time locating system (RTLS). Position determination is based on calculating the distances between the transmitter and multiple receivers; specifically, the travel time between the transmitter and at least three receivers is determined, and the transmitter's position is calculated using trilateration based on this information provided by the receivers, along with the receivers' known positions. The transmitters can be battery-powered, for example. They essentially transmit at least one identification (ID) and a

[0021] Timestamps are sent to the recipients. An exemplary application of this tracking technology for dynamic tracking.

[0022] The determination of the position of persons, e.g. on a playing field, is described in WO 2013 / 167702 Al.

[0023] However, for the application of formwork positioning on a construction site, the technology described above has the disadvantage that a line of sight (LoS) between the transmitter and at least three receivers is required. Line of sight can be understood not only as a direct optical connection between receiver and transmitter, but also as an uninterrupted or minimally interrupted transmission of electromagnetic signals, data, etc. Due to the essentially plate-like geometry of formwork and its opposing / mirrored arrangement during use, interruptions in this transmission almost inevitably occur when multiple forms are used simultaneously (e.g., more than ten).

[0024] Line of sight and signal interference, especially if the receivers are to be located outside the construction site (for example, at the edge or above). This problem could

[0025] This can generally be solved by ensuring that in each case...

[0026] Three receivers could be arranged in the space being constructed. However, the associated costs (equipment and setup expenses) make this solution impractical.

[0027] EP 3 351 699 Al pursues a different purpose. The system and method shown therein serve to automate crane control during the construction of a building from prefabricated elements.

[0028] Wall elements. The target position of a new element is determined.

[0029] The position of the wall element is determined based on measurements of the existing building and the new wall element. The actual position of the new wall element is determined using GNSS receivers attached to the wall element itself, on a crane grab, or with surveying equipment and corresponding reflectors on the new wall element.

[0030] identified and continuously monitored.

[0031] US 2005 / 0107934 Al only concerns a general...

[0032] Determining positions on a construction site. The positions

[0033] The locations of various monitored units are determined via GNSS.

[0034] It is an object of the invention to eliminate at least some disadvantages of the prior art or at least to

[0035] reduce .

[0036] The invention provides for a method of the type mentioned at the outset, comprising:

[0037] Emitting a tracking signal from the docked formwork (i.e., from a tag or transmitter of that formwork);

[0038] Receiving the transmitted location signal with a

[0039] Receiver at at least one reference point;

[0040] Determining a distance between the docked formwork and at least one reference point based on the received location signal;

[0041] Determining a docking position of the docked formwork on the at least one existing formwork that is compatible with the determined distance (where the position(s) of the at least one existing formwork is / are known); and

[0042] Save the determined docking position as the position of the docked formwork.

[0043] Furthermore, the invention provides for a system of the type mentioned above, comprising:

[0044] a docked formwork with a transmitter for a

[0045] Location signal,

[0046] at least one reference point with a receiver for a location signal ,

[0047] a distance measurement unit which is set up to determine a distance between the docked formwork and the at least one reference point on the basis of a location signal sent by the sender and received by the receiver;

[0048] a position database with stored positions

[0049] at least one existing formwork; and

[0050] a matching unit which is set up to determine a docking position of the docked formwork on an existing formwork that is compatible with a distance determined by the distance determination unit and to store the determined docking positions in the position database as the position of the docked formwork.

[0051] When determining the distance between the docked formwork and the reference point, the distance between the transmitter or tag on the formwork and one or more

[0052] Determined by receivers or anchors. This determination is naturally not based solely on the received

[0053] The location signal is not only taken into account, but also, for example, the position of the receiver and the time of reception.

[0054] Location signal. Depending on the circumstances, one, several, or all docking positions of the docked formwork on the at least one existing formwork can be determined. Determining a docking position requires knowledge of the

[0055] Geometry of the two formworks. In the simplest case, a uniform, predefined geometry of all formworks can be assumed. If exactly one compatible docking position has been determined, this docking position is stored as the position of the docked formwork. Otherwise, a selection can be made based on a sequence of docking positions, for example, based on an assigned inaccuracy or an assigned

[0056] Probability, will occur.

[0057] Determining the docking position can include, for example:

[0058] Determine all possible docking positions of the docked formwork on the at least one existing formwork;

[0059] Determining the respective assigned distance of the identified possible docking positions to the at least one reference point;

[0060] Determine those docking positions as compatible with the determined distance whose assigned distance lies within a tolerance range around the determined distance.

[0061] In particular, a tolerance range can be used whose width essentially corresponds to the inaccuracy of the location, e.g. with a width between 5 cm and 30 cm or of about 10 cm or of about 20 cm.

[0062] As an alternative to determining all docking positions of the docked formwork on the at least one existing formwork, it is also conceivable to determine only the docking positions within the

[0063] The tolerance range of the determined distance can be determined.

[0064] Especially when there is a very large number of existing

[0065] Formwork processes can be simplified and accelerated using this approach.

[0066] Furthermore, determining the docking position can include: restricting the possible docking positions based on a local area boundary. The local area boundary thus forms a boundary condition for possible docking positions.

[0067] This means that only docking positions are suitable where the formwork is located within the locally limited area.

[0068] is positioned. As such a range limitation, it can

[0069] For example, the size and position of the construction site, or more generally the site's boundaries or dimensions, could be used. In this example, only docking positions where the formwork remains on the construction site would be suitable.

[0070] In this context, determining the docking position can further include: narrowing down the possible docking positions based on situational information regarding the docked vessel.

[0071] Formwork. Position information can be obtained, for example, with a magnetometer or a compass, each of which can be fixed to the docked formwork. If a

[0072] If situational information is available, possible (i.e., determined according to one of the above-mentioned methods)

[0073] Docking positions where the hypothetical position of the formwork differs from the determined actual position based on the

[0074] If the situation information differs, it will be discarded. This can involve a

[0075] Limit values ​​or tolerance ranges are used, which are based on the inaccuracy of the position information, for example a tolerance range of 10° for the horizontal alignment and a tolerance range of 20° for the vertical alignment.

[0076] The docked formwork in the present system can optionally have a position sensor, the position sensor being connected to the transmitter for the location signal. This allows the

[0077] Orientation information is read from the orientation sensor and transmitted to the receiver via the transmitter. The receiver then has sufficient information to determine both the orientation and – possibly depending on the orientation – the position of the device.

[0078] to determine the docked formwork.

[0079] In another embodiment, the transmitter or tag of the docked formwork can also be a 3D gyrometer (3D gyroscope), 3D magnetometer and / or a 3D accelerometer.

[0080] (Accelerometer). Formwork is used in the

[0081] Essentially supplied with specific widths and heights.

[0082] Examples of such widths are 30 cm, 45 cm, 60 cm, 90 cm, and 135 cm. Examples of such heights are 135 cm, 270 cm, and 330 cm. On a construction site, it is quite possible that two or more formwork panels are used to create different formwork heights or widths. For example, a 45 cm wide and a 90 cm wide formwork panel could be used.

[0083] can be assembled to form a 135 cm wide formwork. To make this system usable for the application according to the invention, not only the two-dimensional position (magnetometer, teslameter) but also the position in

[0084] Three-dimensional space can be determined. If a formwork is rotated to represent the width as height and vice versa, the three-dimensional position can be identified in order to determine the docking positions more precisely.

[0085] Such position detection in three-dimensional space also offers the positive effect that even a flat surface

[0086] Formwork can be identified as lying horizontally or on a stack. Formwork lying horizontally across its entire surface is

[0087] basically equivalent to dormant, i.e., inactive, systems

[0088] Formwork. As soon as a rest position is detected, it can be calculated and compared with the digital model whether the formwork is still in use or can be removed. If formwork lying horizontally is detected, it can be set to inactive in the digital system. The position of the inactive formwork is also determined using the formwork's geometric data. Since precise position determination is not of primary importance for horizontally lying formwork, and horizontally lying formwork...

[0089] Since formwork is easily recognizable visually, an approximate position determination is sufficient, especially since horizontally lying formwork often has no line of sight (LoS) to the receivers due to its low position, so that from the point in time at which contact with no receiver

[0090] Given the presence of [something], there is a high probability that the formwork is in a resting position. This applies to delivered containers (e.g., stacked on top of each other).

[0091] (Stacked formwork) the uppermost formwork can be detected in its rest position. The horizontally layered forms below it.

[0092] Formwork panels are difficult or impossible to detect because the line of sight is interrupted by the horizontally overlapping formwork panel above. The first panel must therefore be lifted before the horizontally overlapping formwork panel below can be detected. Alternatively, the tag or transmitter on the horizontally overlapping formwork panel could indicate which panels are located beneath it. Another possibility would be to attach a tag or transmitter to the pallet or container itself, storing information about the formwork panels. This data can be processed upon delivery and once it is in line of sight to at least one receiver. When the formwork panels are unstashed, the panels being moved to a resting position can be identified. This allows for the determination of a likely unstacking sequence, which can then be stored in the digital system.

[0093] According to one embodiment of the disclosed method, a location signal, together with the geometry of the docked formwork and / or position information from the docked formwork, can be transmitted to a receiver. The location signal can contain a definition of the formwork geometry or a reference to one of several possible...

[0094] predefined geometry definitions or an identification of the formwork from which the geometry can be deduced and which is, for example, linked to a geometry definition.

[0095] Accordingly, in the disclosed system, the

[0096] The matching unit must be connected to a geometry database containing stored formwork geometries of the docked formwork and at least one existing formwork. Using such a geometry database is advantageous when several different geometries are used.

[0097] If no location information is available, or to avoid the transfer of errors in location determination to position determination, the transmitter in the system disclosed here can be arranged centered on the docked formwork. That is, the transmitter for the locating signal is essentially located in the middle of a rear side (i.e., the side facing away from the concrete or other building material during pouring) of the formwork and is at least horizontally centered in the plane of this side surface.

[0098] Apart from that, the invention also generally relates to a

[0099] Method for determining the position of a docked formwork, comprising: determining the number of reference points with a direct line of sight (i.e., an unobstructed or minimally obstructed line of sight).

[0100] Signal connection (see above) to the docked formwork;

[0101] If the determined number of reference points is less than three or less than two, carry out the procedure according to one of the variants described above.

[0102] The conditional application of the method described above allows for differentiation and combination with other, potentially more precise localization methods. Provided such methods are used...

[0103] Available can be based on a potentially computational

[0104] Comparatively more complex and / or less accurate determinations using the methods presented here can be avoided.

[0105] If the identified number of reference points is at least three, the position of the docked formwork can be determined based on the distances to these three reference points and assigned a probability of one. Once at least three reference points have a direct line of sight to the docked formwork, meaning a clear or low-interference signal connection, the position of this formwork can be geometrically unambiguously determined, independent of the position of other formwork. A probability of one can be assigned to a position determined in this way to express that no assumptions about the identity, geometry, and / or location of the formwork were necessary to determine its position.

[0106] The procedure described above

[0107] The determined position of the docked formwork (i.e., based on possible docking positions) can be assigned a reduced probability of less than one in this context, where the probability assigned to the at least one existing formwork to which the docked formwork is docked is

[0108] Probability is taken into account. This allows the

[0109] Uncertainty of the data determined on the basis of several assumptions

[0110] The position can be expressed as a quantitative parameter. Generally, the probability decreases with the number of assumptions made. For example, the probability assigned to the existing formwork can be used as a multiplication factor for the new probability. The resulting probability of the position of the attached formwork can then be considered when assessing compatibility.

[0111] For example, if a certain threshold is not met,

[0112] A warning will be issued if the probability limit is exceeded, or a positioning at the position in question will be discarded (i.e., not saved).

[0113] The reduced probability can optionally be determined based on the deviation of the measured distance from the distance corresponding to the stored docking position. This allows the probability parameter to reflect the influence of the assumptions made (docking position) compared to the measurement (distance). A larger deviation in distances thus corresponds to a lower probability. According to a further

[0114] In one implementation variant, the procedure can be based on a

[0115] The stored setup sequence of several formworks and the respective determined positions and / or distances are carried out, whereby in the case of several possible docking positions for a docked formwork, the probability of the possible docking positions is based on chronological order.

[0116] The erected additional formwork is evaluated, and the position of the docking formwork with the highest probability is determined from among the possible docking positions. In this way, after erecting several

[0117] Formwork that collects positional information of all

[0118] Distance measurements combined and based on this the

[0119] The positions of all formwork must be corrected.

[0120] Optionally, determining the docking position can include:

[0121] Determining a connection geometry for at least two possible positions;

[0122] Determining the docking position within the framework of

[0123] Position determination of a subsequent formwork, wherein the position of the subsequent formwork is determined on a formwork that is connected to the

[0124] The connection geometry is agreed upon, and the docking position is determined.

[0125] In this context, certain shapes or special forms can be represented in a simplified way in the digital system. For example, a corner element can be simplified to represent the geometric data of a quadrilateral. The connecting surfaces are crucial for this simplified geometry, as they should always be located at the edges of the simplified geometry. After further formwork has been placed, the probability of precise positioning and

[0126] The alignment of the formwork can be determined more precisely.

[0127] The arch element could, for example, be represented as a quadrilateral. The position of this simplified quadrilateral could then be determined. However, there would still be uncertainty as to whether the formwork element was positioned correctly. For example, it would be possible that the arch element was mirrored or rotated within the simplified geometric field (quadrilateral). To address this uncertainty

[0128] To prevent this, the precise alignment could be displayed using a 3D magnetometer. Other shapes for such simplified geometries or connection geometries are also possible. Examples include rhomboids, parallelograms,

[0129] Deltoids, etc. Furthermore, a connection geometry can also be three-dimensional. Examples of this are cuboids, where the faces of such a cuboid are congruent with the connection surfaces of a docked component.

[0130] (Formwork to be positioned) can be used. Basically, a connection geometry serves as a placeholder (block) for a position and orientation that is not yet 100% defined.

[0131] Formwork can be seen. Furthermore, it would also be conceivable to use a

[0132] To create a tolerance field for the formwork geometry. This could be represented by a minimal formwork geometry, which exhibits the minimum tolerance geometries, and a maximum formwork geometry, which exhibits the maximum tolerance geometries. A tolerance field would thus form between these two tolerance geometries. The tolerance field represents an uncertainty in the exact position of the

[0133] Boundary surfaces (and thus also the connection surfaces) in space at every point of the formwork. Geometrically, this corresponds to...

[0134] Tolerance field of a shell with a defined thickness (distance between minimum tolerance geometry and maximum

[0135] Tolerance geometry (which does not have to be the same everywhere) in which the actual interface is expected. The thickness is inversely proportional to the accuracy with which the position and geometry of the interface are known.

[0136] Multiple transmitters, tags, and / or sensors can be attached to a single formwork panel. This can be particularly advantageous for improving positioning accuracy, as at least two feedback signals can be received for each panel being located.

[0137] Furthermore, the detection of at least two transmitters is also possible.

[0138] Provide information about the position of the formwork and serve as a comparison for the position information recorded by the position sensors.

[0139] In rectangular formwork, the transmitters, tags and / or sensors are preferably placed diagonally opposite each other in the corners.

[0140] The transmitter, tag and / or sensor are attached to areas of the formwork. This has the advantage that, regardless of the rotation of the formwork, a transmitter, tag and / or sensor is always located in an upper area of ​​the formwork.

[0141] Additionally, it should be mentioned that the connection surfaces,

[0142] Docking positions or docking surfaces of formwork can represent any circumferential surface. For example, in the case of those

[0143] Formwork systems designed so that formwork can be used for concrete pouring in both upright and rotated positions. An example is an upright formwork that has been rotated 90 degrees. The invention is described below with reference to...

[0144] particularly preferred embodiments, to which it is not, however, limited, and with reference to the

[0145] The drawings are explained in more detail below. The drawings show, in detail:

[0146] Fig. 1 shows a schematic plan of a system for determining the position of several formwork units on a construction site with two receivers;

[0147] Fig. 2 shows a similar view to Fig. 1 with a

[0148] interrupted line of sight;

[0149] Fig. 3 shows a schematic plan view of a simplified system according to Fig. 1 at the time of setup for a fourth formwork with several possible formwork positions;

[0150] Figs. 4a and 4b show a similar view to Fig. 3 and a detailed view thereof, respectively, with a docking position below the

[0151] Possible formwork positions are highlighted;

[0152] Fig. 5 schematically shows a formwork element with a transmitter or tag;

[0153] Fig. 6 schematically shows several arranged in a row.

[0154] Formwork elements, each with a transmitter or tag, wherein one formwork element has been rotated by 90°;

[0155] Fig. 7a schematically shows two formworks with a corner element, the corner element having four different possible configurations.

[0156] shows alignment positions;

[0157] Fig. 7b schematically shows two formwork systems and a digital one.

[0158] Connection geometry of a corner element; and

[0159] Fig. 8 shows a similar view to Fig. 7a or 7b, showing an arc element with four alignment positions and a digital connection geometry.

[0160] Fig. 1 shows a system 1 for determining the position of

[0161] Formwork. System 1 comprises several formworks 2, two reference points 3 each with a receiver 4, 5, a

[0162] Distance determination unit 6, a position database 7, a geometry database 8 and a comparison unit 9.

[0163] The system shown (1) is used on a rectangularly indicated construction site (10). Several (in this)

[0164] Example: a total of eight) formwork 2 with partial

[0165] Different dimensions are used. The formwork 2 is each equipped with a transmitter 11 for a positioning signal. The positions of the transmitters 11 on the formwork 2 are shown here only schematically. In reality, the transmitters 11 are each arranged centrally in the middle of the back of the respective formwork 2 (see Fig. 5). The formwork 2 also has a position sensor. The position sensors are each connected to the transmitters 11 of the formwork 2 (e.g., integrated as a unit in a housing). During operation, a controller of the transmitter 11 reads position information from the connected position sensor at regular intervals and transmits the position information via the transmitter 11 as part of a transmitted positioning signal to the receiver(s) 4, 5. The positioning signals transmitted by the transmitters 11 can be received by the two receivers 4, 5 at the reference points 3.The positions of reference points 3 are known to system 1 and were initialized, for example, during construction using DGNSS or comparable methods.

[0166] Distance measurement unit 6 is connected to both receivers 4, 5 (e.g. via a network connection, such as a mobile data network) and is used to determine the distance between the formwork 2 and the objects connected to it.

[0167] Line of sight to reference points 3 is established. The distance is determined based on a positioning signal sent by transmitter 11 and received by receiver 4, 5. To unambiguously determine the position of formwork in two-dimensional space, at least the distances to three reference points are required to perform a triangulation, without further boundary conditions.

[0168] In the example shown in Fig. 1, only two receivers 4, 5 are provided at correspondingly two reference points 3. Assuming a known height of the formwork positions 2 (in a known horizontal plane), the position of a formwork 2 can be restricted to two possibilities based on two measured distances 12, 13, as described by the

[0169] The intersection points 14, 15 of the circumcircles 16, 17 of the two reference points 3 are shown. The circumcircles 16, 17 each have a radius 18, 19 of the distance 12, 13 determined from the respective reference point 3 based on the positioning signal received by receiver 4, 5. That is, there are two possible positions in the plane that have the respective determined distances 12, 13 from both reference points 3. With the additional boundary condition of the local boundary of the construction site 10, an intersection point 15 can be excluded as a possible position, so that the desired position of the formwork 20 can be uniquely determined at intersection point 14 with these assumptions and boundary conditions.

[0170] However, in the example shown, only three formworks 21, 22, 23 have a direct line of sight to both receivers 4, 5. Fig. 2 illustrates the interrupted line of sight 24.

[0171] between the first receiver 4 and the formwork 25. Therefore, when erecting the formwork 2, the position of this formwork 25 cannot be determined from two calculated distances if the formwork 25 is erected after the formwork 21. Rather, only the distance 26 to the

[0172] Reference point 3 is known to the second receiver 5.

[0173] Accordingly, in Fig. 3 only the circumference 17 of this

[0174] Reference point 3 is marked. Along this circumcircle 17 or signal circle, infinitely many theoretical possibilities arise.

[0175] Positioning options 25', even in the known plane and within the construction site 10. For the sake of simplicity, this example assumes that position information of the new

[0176] The formwork 25 is in place, so that the basic orientation (horizontal and parallel to the shorter side of the construction site 10 shown in the floor plan) is known.

[0177] This is where the disclosed invention comes into play, which is based on the

[0178] The finding is based on the fact that the positions of the existing formwork 25, which were already erected before the docked formwork 25, are

[0179] Formwork 20, 21, 27 Conclusions about the probable

[0180] Allow the position of the newly docked formwork 25. To enable these conclusions to be drawn, the

[0181] During the raising of the formwork 2, the position database 7 continuously records the positions of the erected formwork 2, so that at the time shown in Fig. 3, the positions of the existing formwork 20, 21, 27 are stored in the position database 7. Furthermore, the formwork geometries of the existing formwork 20, 21, 27 are stored in the geometry database 8 (because these were received or assigned during erection), and each position of a formwork stored in the position database 7 is linked to a geometry of the respective formwork. The adjustment unit 9 is used to determine a distance calculated by the distance determination unit 6 (corresponding to the radius 19 of the circumcircle 17).

[0182] agree docking position 28 of the newly erected, docked formwork 25 on one of the previously erected,

[0183] existing formwork 20, 21, 27 and for storing the

[0184] The determined docking position 28 is set up in the position database 7 as the position of the docked formwork 25. For this purpose, the synchronization unit 9 is additionally connected to the geometry database 8 with the stored formwork geometries and to the position database 7.

[0185] The boundary condition of the docking position 28, which is compatible with the determined distance, is shown in more detail in Figures 4a and 4b.

[0186] Illustrated. Of the three (but actually infinitely many) possible positions 25' of the newly erected, docked formwork 25, one possible position 29 is already ruled out due to a collision with one of the existing formworks 20 and can be excluded. Such a collision can be identified based on the positions and geometries of the existing formworks 20, 21, 27. A further

[0187] Positioning option 30 would correspond to a gap and an offset (perpendicular to the formwork plane) between the next of the existing formwork 20 and the newly erected formwork 25. Assuming that the formwork is generally adjoining, particularly if, due to the formwork geometry of the newly erected formwork, a connection 31 (corresponding to a docking) is possible on one or both sides with suitable

[0188] If connection surfaces 40 are required, this can also be used.

[0189] Positioning option 30 can be excluded. Therefore, there can ultimately be exactly one positioning option, which...

[0190] Docking position 28 to the next of the existing formwork 20 is, as the most likely position of the newly erected

[0191] Formwork 25 determined and in the position database 7

[0192] to be stored. A new data is created in docking position 28.

[0193] Connection 31 by docking two connection surfaces 40 of adjacent formwork 20, 25. This stored position is assigned, for example, a reduced probability of 0.81.

[0194] assigned to represent the uncertainty due to the use of only one distance measurement and because the position of the existing formwork 20, to which the docked formwork 25 is in the

[0195] Docking position 28 is itself already a docking position and was determined based on only one distance (due to lack of line of sight to receiver 4) and is therefore a

[0196] The probability of 0.9 is assigned (0.81 = 0.9 times 0.9).

[0197] Without the positional information, docking positions with other orientations of the newly erected formwork can also be considered and compared, for example, a vertical position of the newly erected formwork in the shown floor plan (i.e., parallel to the longer side of the construction site 10). However, this would result in a significantly smaller distance between the transmitter 11 and the

[0198] presuppose reference point 3, so that they also work without the

[0199] Location information could be ruled out due to the incompatibility with the determined distance (corresponding to a radius of 19).

[0200] A local area limitation can lead to the rejection of

[0201] Docking positions are created. For the formwork 25

[0202] For example, the erected formwork 32 (see Fig. 2) could be positioned below the formwork 25, because the formwork would then extend beyond the boundary of the construction site 10. The formwork 32 assigned to this formwork 32

[0203] The probability when using the docking position on formwork 25 will be even less than 0.81, e.g., 0.73 (= 0.81 times 0.9 = 0.9 to the power of 3), because it is the third docking position in a row that uses only one distance measurement. A limit of 0.7 could be assumed for the probability, for example, to ensure that at least every fourth formwork has a line of sight to at least two

[0204] has recipients so that the position can be determined.

[0205] When setting up the formwork 33 (see Fig. 2)

[0206] (temporarily) both receivers 4, 5 receive a tracking signal

[0207] The signal is received because formwork 33, when erected in the sequence described here, has a direct line of sight to both receivers 4 and 5. Both lines of sight are interrupted by formwork 22 as soon as it is erected. When formwork 33 is erected, its position is determined based on the calculated distances to the two reference points 3, and the position of formwork 33 is again assigned a probability of one. It can then be subsequently checked whether formwork 32 was positioned at a docking position of formwork 33, and if necessary, the position of formwork 32 can be corrected and assigned a higher probability (e.g., 0.9). The position of the formwork 32 in front of formwork 32

[0208] The erected formwork 25 could now be retrofitted with a

[0209] A probability of 0.95 (square root of 0.9 plus 0.9) can be assigned because this position is now confirmed by a distance and two docking positions.

[0210] Fig. 5 shows the back of a formwork 2 in more detail, with a schematically represented transmitter 11. In this representation, the formwork 2 consists of a plywood core 37 with

[0211] The formwork consists of a plastic covering, several aluminum frame profiles 38, and a groove 39 for element connection. However, other materials for the formwork panel or frame profiles 38, as well as other connection options, are also possible. Furthermore, all four circumferential surfaces are described as connection surfaces 40 (two visible, two concealed). This is because, depending on the orientation of the formwork 2, another formwork panel can be docked to any of the four connection surfaces 40.

[0212] In the illustrated embodiment, the connection surfaces 40 are stepped in the middle so that liquid concrete can flow into the resulting cavity in case of a leak. However, other shapes of the connection surfaces 40 are also possible.

[0213] For example, this is possible. A transmitter 11 is centrally mounted on the back of the formwork. This transmitter 11 is located exactly at the center of the formwork surface, i.e., at the intersection of the

[0214] Axes of symmetry are attached so that measurement data from the gyroscope and / or magnetometer can be used as a basis for calculation.

[0215] The geometric data of formwork 2 can be combined to determine the exact position of the connection surfaces 40. Another possibility, not shown, would be to place the transmitter 11 in a corner of the back of formwork 2.

[0216] Positioning. The exact position of the shell 2 could thus be determined using a 3D magnetometer. A disadvantage here is that shell 2 should preferably be rotated so that transmitter 11 is as high up as possible and not at the bottom edge of shell 2, since the probability of a loss of signal strength (LoS) is higher there.

[0217] Fig. 6 shows three formworks 41, 42, 43 which are connected to each other

[0218] are connected. The connecting elements are not shown here.

[0219] shown. Conventional, state-of-the-art solutions such as, for example, can be used as connecting elements.

[0220] Quick-release fasteners, clamps, tension clamps, clamps, turnbuckles, and element connectors are used. In addition to the two upright formworks 41 and 42, a formwork 43 lying on top of them can also be seen. This formwork 43 is rotated 90° relative to an upright formwork and connected to the side

[0221] The connection surface 40 is docked to the two end-face connection surfaces 40 of the standing formwork 41, 42. The fact that the formwork 43 is rotated by 90° has already been determined by a gyroscope and / or a 3D magnetometer and / or an accelerometer.

[0222] (Accelerometer) detected. By detecting this position, the docking positions 28 of this formwork 43, rotated by 90°, are updated and detected in the digital system.

[0223] Fig. 7a shows a formwork 44 already positioned and a corner element 45 in a position to be docked and a

[0224] The following formwork, i.e., the formwork to be docked to the corner element later, is 46. The formworks 44, 46 and the corner element 45 are each equipped with a transmitter 11. The position of the corner element 45 cannot be uniquely determined using only the transmitter 11 or even a magnetometer.

[0225] For example, mirrored positions of corner element 45 along a north-south line cannot be distinguished from one another (axis reflection / line reflection). The information "corner element" (i.e., the associated geometry of this special case of formwork) does determine that the positions 47, 48, 49, 50 (more precisely)

[0226] (Positioning and orientation possibilities) are at an angle of 90° to each other, however it is not clear

[0227] It can be determined which of the four possible positions 47-50 is the actual position of the corner element 45.

[0228] Positioning options 48 and 50 with connection surfaces 51 and 52 are possible due to the known connection surface 53 of the

[0229] The existing formwork 44 is excluded. In order to also exclude the possible position 49 with the connection surface 54, when using a simple magnetometer (position sensor), waiting for the position determination of the

[0230] The following formwork 46 is useful. This can be represented digitally by a temporary connection geometry 55. The connection geometry 55 is shown slightly expanded in Fig. 7a for clarity. Usually, the boundaries lie exactly at the formwork geometry, i.e., at the

[0231] Connection surfaces 54, 56 of the remaining position possibilities 47, 49 (Fig. 7a shows the connection geometry 55 for easier understanding, assuming that only one position possibility 47 remains). Several connection geometries 55 can also be shown individually or together to illustrate the specific position possibilities of the

[0232] The corner element 45 is displayed at least temporarily. As soon as the subsequent formwork 46 is docked and further logical conclusions can be drawn about the position of the corner element 45, the connection geometry 55 is replaced by the known geometry of the corner element 45. In the illustrated version, the transmitter 11 is located in the corner area of ​​the

[0233] Corner element 45. This is primarily due to space and structural reasons.

[0234] Figure 7b shows a fundamentally similar arrangement to Figure 7a. The corner element 45 is represented here as a square.

[0235] Connection geometry 55 is shown. Also shown are...

[0236] Transmitter 11 at different mounting positions 57, 58 (in practice, typically only one transmitter is used at one

[0237] (Installation position used). The orientation of the

[0238] Corner element 45 subsequently, as shown in Fig. 7a,

[0239] This will be specified in more detail. As can be seen from the shape of the connection geometry 55, the possible positions 48 and 50 have already been excluded due to the connection surfaces 53 of the existing formwork 44 (the connection geometry 55 according to Fig. 7b thus includes the two possible positions 47 and 49).

[0240] Mounting position 58 of transmitter 11 indicates an ideal position on the corner element 45 in this example, since the

[0241] Positioning option 49 could also be ruled out in this case via the location of transmitter 11, provided that the

[0242] The position determination of transmitter 11 is precise enough.

[0243] Fig. 8 shows a formwork 59 docked to an existing formwork 44 in a docking position 28, wherein the docked formwork 59 comprises an arc element with four position options 60-63, the respective axis positions 60'-63' per position option 60-63, a digital connection geometry 64, a subsequent

[0244] Formwork 46 (shown with dashed lines) and different transmitter positions 65-68 for each possible position 60-63, depending on structural and / or positional reasons. One such positional reason could be that the transmitter 11, when mounted near a corner, already rests directly on two points of the connection surfaces 69 of the formwork 59, thus providing a different, usually advantageous, reference point than a transmitter 11 that is, for example, off-center, i.e., not in the

[0245] The intersection of the diagonals of the formwork surface is located here. Position options 62 and 63 can be determined via the axis positions.

[0246] 62', 63' (magnetometer, compass) are excluded.

[0247] However, position option 61 has a substantially

[0248] Identical axle position 61 ' as axle position 60 ' of the

[0249] Docking position 28 corresponding positioning option 60.

[0250] Depending on the geometry of the docked formwork 59, position 61 may not be possible via axis position 61'.

[0251] Security is excluded. Regarding the recording of the

[0252] The following formwork 46 and the associated connection surface 70 can at least be subsequently ruled out, or a probable position determined on the basis of the assumed geometry of the docked circuit (which would be the case, for example, with the arc element shown here) can be checked. Another possibility would be to position the transmitter 11 in such a way that a mirroring or rotation of the formwork 59 (arc element) does not lead to the

[0253] Axle positions 60' and 61' are congruent. Examples of

[0254] Such transmitter positions 71-74 of the transmitter 11 are shown in Fig. 8. In these examples, the transmitter 11 is located in the corner areas of a connection geometry 64 or in the

[0255] The imaginary center point of the connection geometry is located at 64.

Claims

A method for determining the position of a formwork fitted onto at least one existing formwork (25), comprising:transmitting a locating signal from the fitted formwork (25);receiving the transmitted locating signal with a receiver (5) at at least one reference point (3);determining a distance (26) between the fitted formwork (25) and the at least one reference point (3) based on the received locating signal;determining a fitting position (28) of the fitted formwork (25) on the at least one existing formwork (20) compatible with the determined distance (26) on the basis of the formwork geometries of the fitted formwork (25) and the at least one existing formwork, andsaving the determined fitting position (28) as the position of the fitted formwork (25).The method according to Claim 1, characterized in that determining the fitting position (28) comprises:determining all possible fitting positions (28) of the fitted formwork (25) on the at least one existing formwork (20);determining the associated distance of each determined possible fitting position (28) to the at least one reference point (3);determining those fitting positions (28) as compatible with the determined distance (26) whose associated distance is within a tolerance range around the determined distance (26).The method according to Claim 2, characterized in that determining the fitting position (28) comprises:limiting the possible fitting positions (28) based on a local zone boundary.The method according to Claim 2, characterized in that determining the fitting position (28) comprises:limiting possible fitting positions (28) on the basis of an orientation information concerning the fitted formwork (25).The method according to Claim 1, characterized in that a locating signal is transmitted together with a geometry of the fitted formwork (25) or with an orientation information or with both, a geometry of the fitted formwork (25) and an orientation information, from the fitted formwork (25) to a receiver (4; 5).A method for determining the position of a fitted formwork (25), comprising:determining the number of reference points (3) with a direct line of sight to the fitted formwork (25);if the determined number of reference points (3) is less than three or less than two, performing the method according to Claim 1.The method according to Claim 6, characterized in that if the determined number of reference points (3) is at least three, the position of the fitted formwork (25) is determined on the basis of the distances to the at least three reference points (3) and associated with a probability of one.The method according to Claim 6, characterized in that the position of the fitted formwork (25) determined by the method according to any one of the Claims 1 to 5 is associated with a reduced probability less than one, wherein the probability associated with the at least one existing formwork (20), to which the fitted formwork (25) is fitted, is taken into account.The method according to Claim 8, characterized in that the reduced probability is determined as a function of a deviation of the determined distance (26) from the distance corresponding to the stored fitting position (28).The method according to Claim 1, characterized in that determining the fitting position (28) comprises:determining a connection geometry (55) for at least two positioning options (47-50);determining the fitting position (28) in the context of the position determination of a subsequent formwork (46), wherein the position of the subsequent formwork (46) is determined at a fitting position compatible with the connection geometry (55).The method according to Claim 1, characterized in that the method is carried out on the basis of a stored installation sequence of a plurality of formworks (2) and the respectively determined positions or distances or both, positions and distances, wherein, in the case of a plurality of possible fitting positions for a fitted formwork, the probability of the possible fitting positions (28) is evaluated on the basis of other chronologically subsequently erected formworks and that of the possible fitting positions (28) is determined as the position of the fitted formwork to which the greatest probability is associatedThe system (1) for determining the position of formworks (2), comprising:a fitted formwork (25) with a transmitter (11) for a locating signal,at least one reference point (3) with a receiver (5) for a locating signal,a distance determination unit (6) set up to determine a distance (26) between the fitted formwork (25) and the at least one reference point (3) based on a locating signal sent by the transmitter (11) and received by the receiver (5);a position database (7) with stored positions of at least one existing formwork (20); andan adjustment unit (9) set up to determine a fitting position (28) of the fitted formwork (25) on an existing formwork (20) compatible with a distance (26) determined by the distance determination unit (6) based on the formwork geometries of the fitted formwork and the at least one existing formwork, and to store the determined fitting positions (28) in the position database (7) as the position of the fitted formwork (25).The system (1) according to Claim 12, characterized in that the adjustment unit (9) is connected to a geometry database (8) with stored formwork geometries of the fitted formwork and at least one existing formwork.The system (1) according to Claim 12, characterized in that the transmitter (11) is centred on the fitted formwork (25).The system (1) according to Claim 12, characterized in that the fitted formwork (25) comprises an orientation sensor, wherein the orientation sensor is connected to the transmitter (11).

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