Method and system for operating a building material system

Abstract

The invention relates to a method for operating a construction material system (1),-wherein the construction material system (1) has a discharge device (2), a distribution mast (3) and an actuatable drive device (4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h),-wherein the discharge device (2) is designed to discharge construction material (BS) from the construction material system (1),-wherein the distribution mast (3) has a displaceable mast section (3a, 3b, 3c, 3d), the drive device (4a-e) is designed to drive the mast section (3a-d) in order to position the discharge device (2), and wherein the drive device (4a-e) is designed to drive the mast section (3a-d), the method comprises the following steps: a) identifying a model (1M) of the construction material system (1) by actuating the drive (4a-e) with an input signal (IS) in order to excite a movement of the distribution mast (3) and by detecting an output signal (OS) resulting from the excited movement, b) determining, in particular calculating, a controller (RE) on the basis of the identified model (1M), and c) adjusting the construction material system (1) by means of the determined adjuster (RE), in particular for reaching and / or for holding a set position of the distribution mast (3).

Description

Field of the Invention

[0001] The present invention relates to a method and a system for operating a building material system. Summary of the Invention

[0002] The object of the present invention is to provide a method and a system for operating a building material system, respectively, which have improved characteristics respectively.

[0003] The present invention solves this task by providing the method and the system described in the independent claims. Advantageous improvements and / or designs of the present invention are described in the dependent claims.

[0004] The method according to the present invention is for operating a building material system. The building material system has a discharging device, a distributing mast, and a controllable driving device. The discharging device is configured to discharge building materials from the building material system. The distributing mast has mast sections that are displaceable or movable (especially relative to each other) for positioning the discharging device. The driving device is configured to drive the mast sections, especially for their displacement. The method has the following steps: a) By using an input signal to control the driving device to stimulate the movement of the distributing mast and by detecting an output signal caused by the stimulated movement to identify a (especially at least one) model of the building material system, especially a (especially at least one) mast model of the distributing mast. b) Determine, especially calculate, a (especially at least one) regulator (especially a mast regulator) according to the identified (especially at least one) model. c) Adjust the building material system by means of the determined (especially at least one) regulator, especially for achieving and / or for maintaining a set position of the distributing mast.

[0005] This (especially step a)) achieves that the model can be independent of modeling errors, and / or (especially therefore) can approximate the actual behavior of the building material system. Alternatively or additionally, especially therefore, this (especially step b)) achieves good operation, especially adjustment of the building material system, especially by means of a regulator adapted to the actual behavior of the building material system. Especially, the adjustment for achieving and / or for maintaining can achieve stabilization and / or disturbance compensation. Therefore, this can achieve precise positioning, especially precise positioning of the mast tip of the distributing mast and thus precise positioning of the discharging device.

[0006] Especially, the method, operation, discharging, positioning, driving, identification, control, detection, determination, and / or adjustment can be automatic or independent.

[0007] The building material system can be mobile, especially drivable, especially a vehicle-type building material system.

[0008] The controllability can be hydraulic controllability and / or electric controllability.

[0009] The term "actuator" can be used synonymously with the term "drive device".

[0010] The term "comprising" or "having" can be used synonymously with the term "including".

[0011] The term "configured" can be used synonymously with the term "constructed".

[0012] The construction material can be a thick material, especially concrete, bentonite, cement, mortar, seamless flooring and / or plaster.

[0013] The dispensing mast can be configured for positioning the discharging device and / or be configured adjustably.

[0014] The term "section" can be used synonymously with the term "segment".

[0015] Step a) can be referred to as system identification or system discrimination or system authentication.

[0016] The identification can be achieved experimentally and / or by means of determining the quantitative correlation between the output signal and the input signal.

[0017] The model can be mathematical and / or dynamic, and / or can describe the construction material system in the frequency domain, such as a Bode plot or state-space representation, and / or have parameters, especially parameter values. In particular, the model can be a system of differential equations describing the relationship between the input signal and the output signal.

[0018] The input signal and / or the output signal can be used for system identification, and / or be defined or preset, and / or be physical and / or be different, especially of different types, and / or have values.

[0019] The term "test" can be used synonymously with the term "input".

[0020] The term "cause" can be used synonymously with the term "excite".

[0021] The term "measure" can be used synonymously with the term "detect".

[0022] The term "response" can be used synonymously with the term "output".

[0023] The output signal can be adjusted by or according to the excited motion or the input signal.

[0024] The detection can be achieved by means of at least one (especially electrical) sensor device of the construction material system, especially a plurality of sensor devices.

[0025] The terms "generate" or "design" may be used synonymously with the term "determine".

[0026] The regulator may have a type or a style and / or parameters, in particular parameter values.

[0027] The terms "based on" or "in accordance with" may be used synonymously with the term "according to".

[0028] The set position may have a value and / or be variable.

[0029] The adjustment may have an adjustment of the distribution mast, in particular an adjustment of the distribution mast.

[0030] The term "attitude" may be used synonymously with the term "position".

[0031] Step b) may be carried out in time after step a). Alternatively or additionally, step c) may be carried out in time after step b).

[0032] In an improvement of the present invention, the input signal is used to excite the spectrum of the distribution mast, in particular the spectrum of the mast section. This achieves that the model can be very close to the actual behavior of the building material system. In particular, this can achieve exciting the natural vibrations or resonances of the building material system, in particular the distribution mast. In particular, the building material system, in particular the distribution mast, may be vibratable.

[0033] In particular, the input signal may have (in particular) white noise and / or a chirp signal. In addition, refer to the professional literature.

[0034] In an improvement of the present invention, the input signal has (in particular) a step, in particular steps of different durations and / or different amplitudes. In particular, the input signal is a step. Surprisingly, this achieves a relatively weak load on the building material system (in particular compared to white noise and / or a chirp signal).

[0035] In an improved embodiment of the present invention, step a) is carried out for different positions of the dispensing mast (especially mast sections) and / or for different loadings of the dispensing mast with construction materials, especially carried out multiple times or repeatedly, for identifying different models of the construction material system. Step b) has: determining (especially only determining) the regulator, especially the unique regulator, according to the identified model. This enables: the determined regulator (especially the unique one) to be robust or stable, and / or (especially thus) to be fixed, and / or to be switched or converted between the determined regulators, especially according to the robustness limits or robustness boundaries determined based on the position and / or load. In particular, these positions can be arc positions, horizontal positions, vertical positions, and / or Z-shaped positions, and / or at least two, especially at least five, especially at least ten positions. Additionally or alternatively, the load can be at least two, especially at least five, especially at least ten loads.

[0036] In an improved embodiment of the present invention, step a) is carried out by means of a regulator simpler than the regulator determined in step b), especially a P regulator (proportional regulator). Additionally or alternatively, the model has a linear model. In particular, the model is a linear model. Further additionally or alternatively, the regulator determined in step b) has a linear regulator, especially an LQ regulator (linear quadratic regulator), an LQG regulator (linear quadratic Gaussian regulator), an LPV regulator (linear parameter-varying regulator or linear varying-parameter regulator), and / or a robust regulator, especially an H-infinity regulator, and / or a model predictive regulator. In particular, the determined regulator is a linear regulator and / or a robust regulator and / or a model predictive regulator. This (especially the simple regulator) enables the construction material system (especially the dispensing mast) to be stabilized. In particular, the simple regulator can be called a stabilizing regulator. Additionally or alternatively, this (especially the linear model) enables the actual behavior of the construction material system to be approximated sufficiently closely. In particular, the linear model can be a system of linear or ordinary differential equations. Additionally or alternatively, the construction material system can be linear and / or invariant. Further additionally or alternatively, the regulator enables the construction material system to be determined simply and / or to operate very well (especially to regulate), especially for different positions of the dispensing mast and / or for different loadings of the dispensing mast with construction materials. Refer to professional literature for other matters.

[0037] In an improved embodiment of the present invention, the construction material system and / or the dispensing mast has a rotating mechanism and / or a rotating joint for displacing the mast section. Additionally or alternatively, the output signal represents the rotational angular position of the mast section, in particular and also the rotational angular position speed. In particular, the output signal is the rotational angular position, in particular and also the rotational angular position speed. Further additionally or alternatively, the regulator has a rotational angle regulator. In particular, the regulator is a rotational angle regulator. In particular, one of the rotating joints can be at the non-free end or the fixed end or the mast foot of the dispensing mast and / or the rotating mechanism. Additionally or alternatively, the axis of rotation of the rotating mechanism can be vertical. Further additionally or alternatively, the axis of rotation of the rotating joint can be horizontal and / or (in particular to each other) parallel. Further additionally or alternatively, the term "characterize" can be used synonymously for the term "represent". Further additionally or alternatively, the rotational angle regulator can be referred to as a rotating mechanism regulator and / or a rotating joint regulator.

[0038] In an improved embodiment of the present invention, the construction material system has a parallel robot, in particular a Delta robot. The dispensing mast is configured to (in particular, roughly) position the parallel robot, in particular at the top of the mast of the dispensing mast. The parallel robot is configured to (in particular, finely) position the discharging device. The drive device is configured to drive the parallel robot, in particular the robotic arm device of the parallel robot. In particular, step a) includes: manipulating the drive device by using an input signal to stimulate the movement of the parallel robot and identifying at least the model of the construction material system by detecting the output signal caused by the stimulated movement, in particular during the stationary state of the dispensing mast. In particular, the output signal represents the (in particular, translational) position and / or (in particular, rotational) orientation of the parallel robot and / or the discharging device relative to the construction environment of the construction material system. In particular, the output signal is the position and / or the orientation. Step b) includes: determining at least the regulator, in particular the robot regulator, according to at least the identified model. Step c) includes: adjusting the construction material system by means of at least the determined regulator, in particular for achieving and / or maintaining the set position and / or set orientation of the parallel robot. The parallel robot compensates for the positioning inaccuracies of the dispensing mast. Thus, this enables very precise positioning of the discharging device. In particular, the parallel robot can be a six-degree-of-freedom parallel robot. Additionally or alternatively, the term "manipulator" can be used synonymously with the term "robot". Further additionally or alternatively, the dispensing mast can be referred to as a serial robot. Further additionally or alternatively, the top of the mast can be the free end of the dispensing mast. Further additionally or alternatively, the parallel robot can be rotatable relative to the dispensing mast, in particular relative to the top of the mast (in particular, around a vertical axis of rotation). Further additionally or alternatively, the term "orientation" can be used synonymously with the term "orientation". Further additionally or alternatively, the set position and / or set orientation can have values and / or be variable. Further additionally or alternatively, the mast model and the robot model can be different. Further additionally or alternatively, the mast regulator and the robot regulator can be different. Further additionally or alternatively, the adjustment can include the adjustment of the parallel robot, in particular the adjustment of the parallel robot. Further additionally or alternatively, the stationary state of the dispensing mast can be regulated or unregulated.

[0039] In a design of the present invention, the detection of the output signal caused by the excited movement of the parallel manipulator is carried out by means of an optical measuring device, in particular a laser tracker. This enables high precision, especially in the range of 1 mm (millimeter). In particular, the measuring device can be electrical and / or for absolute position. Additionally or alternatively, the measuring device can be independent of the distribution mast and / or the parallel robot, and / or be located outside thereof.

[0040] In a design of the present invention, step b) includes: determining the regulator for adjusting the dispensing mast to position the discharging device such that the parallel robot reaches its central position and / or central orientation. In particular, step a) includes: identifying models of the mast model with the dispensing mast and the robot model of the parallel robot. Step b) includes: determining a mast regulator for adjusting (in particular, the) dispensing mast according to the identified mast model, and determining a robot regulator for adjusting (in particular, the) parallel robot according to the identified robot model. By manipulating the drive device with an input signal, while adjusting the parallel robot with the determined robot regulator to reach the set position of the discharging device, the top position of the mast tip is determined with the determined mast regulator, and a system model of the building material system is identified by means of an output signal for detecting the deviation between the actual position and the central position of the parallel robot and / or the deviation between the actual orientation and the central orientation of the parallel robot. The regulator is determined according to the identified system model. Step c) includes: adjusting the dispensing mast to position the discharging device with the determined regulator (tracking controller or tracking regulator), and in particular adjusting the parallel robot to position the discharging device with the determined robot regulator. This ensures a large movement space or working area for the parallel robot. In particular, the central position can be defined or preset by the center of the possible position area of the parallel robot, in particular bounded by mechanical stops. Additionally or alternatively, the central orientation can be defined or preset by the center of the area of possible orientations of the parallel robot, in particular bounded by mechanical stops. Further additionally or alternatively, the central position and / or central orientation can have values. Further additionally or alternatively, step b) can be referred to as system identification or system discrimination or system appraisal. Further additionally or alternatively, the system model can be different from the mast model and / or the robot model. Further additionally or alternatively, the regulator can be different from the mast regulator and / or the robot regulator. Further additionally or alternatively, the regulator can be superimposed on the mast regulator or be superior to the mast regulator, and / or can be referred to as a system regulator. Further additionally or alternatively, the top position can be a set top position and / or be variable. Further additionally or alternatively, the set position of the discharging device can be variable. Further additionally or alternatively, the term "difference" can be used synonymously with the term "deviation". Further additionally or alternatively, the actual position and / or actual orientation can be variable.

[0041] In a design of the present invention, the construction material system has a rotating mechanism and an inertial sensor device. The inertial sensor device is arranged at the end of the dispensing mast opposite to the rotating mechanism, especially at the parallel robot and / or the discharging device, for detecting an output signal caused by the movement excited by the rotation of the rotating mechanism. This achieves high precision. In particular, the term "inertial measurement unit" can be used synonymously with the term "inertial sensor device". Additionally or alternatively, the inertial sensor device can be electrical and / or have an acceleration sensor and / or a rotation rate sensor, especially an acceleration sensor and / or a rotation rate sensor. Further additionally or alternatively, the output signal represents acceleration and / or rotation rate, especially acceleration and / or rotation rate. Further additionally or alternatively, the inertial sensor device can be independent of the dispensing mast and / or the parallel robot and / or the measuring device, and / or be located outside of them. Further additionally or alternatively, this end can be the last mast section, especially the mast tip.

[0042] In an improved design of the present invention, the discharging device has a print head. In particular, the discharging device is a print head. The print head is configured to discharge construction material from the construction material system and to shape the construction material to form a construction material strip, especially for 3D printing of building components. The method enables the precise formation of the strip in terms of position, especially relative to the construction environment. In particular, the construction material system can be referred to as a printing system. Additionally or alternatively, the shaping and / or 3D printing can be automatic. Further additionally or alternatively, the construction material can be concrete, especially fresh concrete, and / or be thixotropic, and / or be puncture-resistant or shape-stable, especially during discharging. Further additionally or alternatively, the strip (especially the discharged and / or shaped strip) can be continuous or extend in a (especially certain) length. Further additionally or alternatively, the strip can (especially layer by layer) be placed on or applied to an already formed strip, and / or another strip can (especially layer by layer) be placed on or applied to this strip. Further additionally or alternatively, the building component can be three-dimensional, and / or be a building structure component, and / or be a wall and / or a ceiling. Further additionally or alternatively, the strip, especially the width of the strip, can have (especially the entire) wall thickness and / or ceiling thickness. Further additionally or alternatively, 3D printing can be referred to as additive manufacturing.

[0043] In an improved embodiment of the present invention, particularly in a design embodiment of the present invention, step c) includes: adjusting the construction material system according to the data of the building component to be constructed, particularly to be printed (particularly the said one), (particularly construction or working drawings, particularly construction or working drawings stored in the storage device of the construction material system). This achieves a reduction or even avoidance of errors during construction.

[0044] In an improved embodiment of the present invention, the method includes the following steps: during the adjustment of the construction material system, particularly during the adjustment of the construction material system for positioning the discharge device, discharging construction material by means of the discharge device for the distribution of construction material.

[0045] In an improved embodiment of the present invention, the construction material system has a conveying line. The conveying line is arranged along the distribution mast for guiding construction material to the discharge device. Additionally or alternatively, the construction material system has a construction material pump. The construction material pump is configured to convey construction material (particularly through the conveying line) to the discharge device, particularly for discharging the conveyed construction material. Particularly, the method includes the following steps: during the adjustment of the construction material system, particularly during the adjustment of the construction material system for positioning the discharge device, conveying construction material by means of the construction material pump. Particularly, the conveying line can be displaceable and / or have (particularly as) a pipeline. Additionally or alternatively, the conveying can be automatic. Further additionally or alternatively, the construction material pump can be discontinuous, particularly a piston pump, particularly a double piston pump, particularly with a pipeline branch.

[0046] The system according to the present invention is configured to (particularly for the said) operate (particularly the said) construction material system. The system has identification, determination, and adjustment means. The identification, determination, and adjustment means are configured to (particularly automatically) implement the method as previously described (particularly the said one). Particularly, the system has a construction material system. The system can achieve the same advantages as the method previously described. Particularly, the system (particularly the identification, determination, and adjustment means) can be electrical and / or have a computing device, particularly a processor, and / or have a storage device, particularly a computer. Description of the Drawings

[0047] Other advantages and aspects of the present invention can be derived from the claims and from the description of the embodiments of the present invention, which will be explained below with reference to the drawings. Among them:

[0048] Figure 1 Schematically shows a system according to the present invention having a construction material system and a method according to the present invention for operating the construction material system;

[0049] Figure 2 Schematically shows the discharge device and the construction material pump of the construction material system during operation Figure 1 ;

[0050] Figure 3 Schematically shows a building component formed by 3D printing a construction material strip with the aid of Figure 1 the construction material system

[0051] Figure 4 Schematically shows Figure 1 the flowchart of the method

[0052] Figure 5 Schematically shows Figure 1 another flowchart of the method

[0053] Figure 6 Schematically shows Figure 1 the graph of the step amplitude of the method varying with time

[0054] Figure 7 Schematically shows Figure 1 yet another flowchart of the method Detailed implementation mode

[0055] Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 7 show the method according to the invention for operating the construction material system 1 and the system 12 according to the invention

[0056] The system 12 has an identification, determination and adjustment device 13. The identification, determination and adjustment device 13 is configured to implement the method, in particular the identification, determination and adjustment device implements the method

[0057] In particular, the system 12 has a construction material system 1

[0058] The construction material system 1 has a discharging device 2, a dispensing mast 3, and controllable drive devices 4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h. The discharging device 2 is configured to discharge construction material BS from the construction material system 1, in particular the discharging device discharges construction material from the construction material system. The dispensing mast 3 has displaceable mast sections 3a, 3b, 3c, 3d for positioning the discharging device 2, in particular the dispensing mast positions the discharging device. The drive devices 4a-e are configured to drive the mast sections 3a-d, in particular the drive devices drive the mast sections. The method has the following steps: a) By using an input signal IS to control the drive devices 4a-e to stimulate the movement of the dispensing mast 3 and by detecting an output signal OS caused by the stimulated movement to identify a model 1M of the construction material system 1, in particular a mast model 3M of the dispensing mast 3. b) Based on the identified model 1M, in particular the identified mast model 3M, determine, in particular calculate, a regulator RE, in particular a mast regulator 3RE. c) By means of the determined regulator RE, in particular the determined mast regulator 3RE, regulate the construction material system 1, in particular to reach and / or to maintain a set position of the dispensing mast 3.

[0059] In the illustrated embodiment, the dispensing mast 3 has four mast sections 3a-d. In an alternative embodiment, the dispensing mast may have at least three mast sections.

[0060] Specifically, the construction material system 1 has a parallel robot 7, in particular a Delta robot 7'. The dispensing mast 3 is configured to position the parallel robot 7, in particular at the mast tip 3S of the dispensing mast 3, in particular the dispensing mast positions the parallel robot. The parallel robot 7 is configured to position the discharging device 2, in particular the parallel robot positions the discharging device. The drive devices 4f-h are configured to drive the parallel robot 7, in particular the drive devices drive the parallel robot. In particular, step a) has: By using an input signal IS to control the drive devices 4f-h to stimulate the movement of the parallel robot 7 and by detecting an output signal OS caused by the stimulated movement to identify at least the model 1M of the construction material system 1, in particular a robot model 7M of the parallel robot 7. In particular, the output signal OS represents the position PO and / or the orientation AR of the parallel robot 7 and / or the discharging device 2 relative to the construction environment BU of the construction material system 1. In particular, the output signal OS is the position PO and / or the orientation AR. Step b) has: Based on at least the identified model 1M, in particular the identified robot model 7M, determine at least the regulator RE, in particular a robot regulator 7RE. Step c) has: By means of at least the determined regulator RE, in particular the determined robot regulator 7RE, regulate the construction material system 1, in particular to reach and / or maintain a set position and / or a set orientation of the parallel robot 7.

[0061] Specifically, step b) has: determining a regulator RE for adjusting the dispensing mast 3 to position the discharge device 2 such that the parallel robot 7 reaches its central position and / or central orientation. In particular, step a) has: identifying a model 1M having a mast model 3M of the dispensing mast 3 and a robot model 7M of the parallel robot 7. Step b) has: determining a mast regulator 3RE for adjusting the dispensing mast 3 based on the identified mast model 3M, and determining a robot regulator 7RE for adjusting the parallel robot 7 based on the identified robot model 7M. By controlling the drive devices 4a-e with the input signal IS, while adjusting the parallel robot 7 with the determined robot regulator 7RE to reach the set position of the discharge device 2, the top position SPO of the mast top 3S is determined with the determined mast regulator 3RE, and a system model SM of the building material system 1 is identified by means of an output signal OS detecting the deviation DI between the actual position and the central position of the parallel robot 7 and / or the deviation DI between the actual orientation and the central orientation of the parallel robot 7. The regulator RE is determined based on the identified system model SM. Step c) has: adjusting the dispensing mast 3 to position the discharge device 2 with the determined regulator RE, and in particular adjusting the parallel robot 7 to position the discharge device 2 with the determined robot regulator 7RE.

[0062] In addition, the input signal IS is used to excite the spectrum of the dispensing mast 3, in particular for identifying the mast model 3M, and / or to excite the spectrum of the parallel robot 7, in particular for identifying the robot model 7M.

[0063] In addition, the input signal IS has a step SP, in particular a step with different durations ZD and / or different amplitudes AT, in particular for identifying the mast model 3M. In particular, the input signal IS is the step SP, in particular for identifying the robot model 7M. This is shown in Figure 6 shown.

[0064] In addition, step a) is carried out for different positions of the dispensing mast 3 and / or for different loadings of the dispensing mast 3 with the building material BS, for identifying different models 1M of the building material system 1, in particular different mast models 3M of the dispensing mast 3. Step b) has: determining (in particular only determining) the (in particular unique) regulator RE, in particular the mast regulator 3RE, based on the identified model 1M, in particular the identified mast model 3M.

[0065] Furthermore, step a) is implemented by means of a regulator ERE that is simpler than the regulator RE determined in step b), in particular a P regulator PRE. Additionally or alternatively, the model 1M is a linear model 1LM. In particular, the model 1M is the linear model 1LM. Further additionally or alternatively, the regulator RE determined in step b) has a linear regulator LRE, in particular an LQ regulator, an LQG regulator, an LPV regulator, and / or a robust regulator RRE, in particular an H-infinity regulator, and / or a model predictive regulator MPRE. In particular, the determined regulator RE is a linear regulator LRE and / or a robust regulator RRE and / or a model predictive regulator MPRE.

[0066] In other words: The input signal is not output directly, but rather interferes with a simpler regulator in order to comply with the operating range of the drive device and generally without the risk of collision with any object.

[0067] Additionally or alternatively, a model in the form of a state-space representation (differential equation), transfer function, ARMA or ARMAX model (etc.) can be identified by means of special methods (optimization, subspace methods, etc.).

[0068] Furthermore, the building material system 1 and / or the distribution mast 3 has a rotating mechanism 5 and / or rotating joints 6a, 6b, 6c, 6d in order to displace the mast sections 3a-d. Additionally or alternatively, the output signal OS represents the rotational angular position WSa, WSb, WSc, WSd, WSe of the mast sections 3a-d, in particular as well as the rotational angular position speed, in particular for identifying the mast model 3M. In particular, the output signal OS is the rotational angular position WSa-e, in particular as well as the rotational angular position speed. Further additionally or alternatively, the regulator RE has a rotational angle regulator WRE. In particular, the regulator RE is a rotational angle regulator WRE.

[0069] In the illustrated embodiment, the building material system 1 and / or the distribution mast 3 has four rotating joints 6a-d. In an alternative embodiment, the building material system and / or the distribution mast can have at least three rotating joints.

[0070] Specifically, the building material system 1 has a rotating mechanism 5 and an inertial sensor device 9. The inertial sensor device 9 is arranged at the end 3S of the distribution mast 3 opposite to the rotating mechanism 5, in particular arranged at the parallel robot 7 and / or the discharge device 2, for detecting the output signal OS caused by the movement excited by the rotation of the rotating mechanism 5.

[0071] Furthermore, the detection of the output signal OS caused by the excited movement of the parallel robot 7 is implemented by means of an optical measuring device 8, in particular a laser tracker 8'.

[0072] In other words: The control signal of the valve can be referred to as the input signal of the dispensing mast. In a parallel robot, it can be a position preset. In the dispensing mast, the corresponding arm angles can be used as output signals; and in a parallel robot, the current position in the global coordinate system can be used as an output signal.

[0073] Furthermore, the discharging device 2 has a print head 2'. In particular, the discharging device 2 is the print head 2'. The print head 2' is configured to discharge the construction material BS from the construction material system 1 and to shape the construction material BS to form a construction material BS strip ST, in particular for 3D printing of a building component BWT, in particular for discharging and shaping and thus forming, in particular for printing. This is shown in Figure 3 as follows.

[0074] Furthermore, step c) has: adjusting the construction material system 1 according to the data DBWT of the building component BWT to be constructed, in particular to be printed, in particular for traversing a preset trajectory.

[0075] Furthermore, the method has the following step: during the adjustment of the construction material system 1, in particular during the adjustment of the construction material system for positioning the discharging device 2, discharging the construction material BS by means of the discharging device 2 for dispensing the construction material BS.

[0076] Furthermore, the construction material system 1 has a conveying line 10. The conveying line 10 is arranged along the dispensing mast 3 for guiding the construction material BS to the discharging device 2. Additionally or alternatively, the construction material system 1 has a construction material pump 11. The construction material pump 11 is configured to convey the construction material BS (in particular through the conveying line 10) to the discharging device 2, in particular for conveying. In particular, the method has the following step: during the adjustment of the construction material system 1, in particular during the adjustment of the construction material system for positioning the discharging device 2, conveying the construction material BS by means of the construction material pump 11.

[0077] In addition, the discharging device 2, the dispensing mast 3, the drive devices 4a-h, the parallel robot 7, the inertial sensor device 9, the measuring device 8 and / or the construction material pump 11 are each configured to cooperate with the identification, determination and adjustment device 13, in particular for cooperation.

[0078] Furthermore, the dispensing mast 3 has a positioning accuracy 3PG of at least 500 mm and / or at most 10 mm; and / or the dispensing mast 3 has an operating range 3R of at least 10 m (meters) and / or at most 100 m; and / or the dispensing mast 3 has a maximum speed 3vmax of at least 10 mm / s (millimeters per second) and / or at most 2 m / s (meters per second); and / or the dispensing mast has a minimum of 1 m / s 2(meters per square second) and / or a maximum of 20 m / s 2 a maximum acceleration and / or deceleration 3amax of; and / or the parallel robot 7 has a positioning accuracy 7PG of at least 50 mm and / or at most 0.1 mm, in particular at most 1 mm; and / or the parallel robot 7 has a working range 7R of at least 10 mm, in particular at least 100 mm, and / or at most 1000 mm, in particular at most 500 mm; and / or the parallel robot 7 has a maximum speed 7vmax of at least 10 mm / s and / or at most 10 m / s; and / or the parallel robot 7 has a minimum 0.1 m / s 2 and / or a maximum of 500 m / s 2 a maximum acceleration and / or deceleration 7amax of.

[0079] As clearly shown by the embodiments shown and explained above, the present invention is respectively based on advantageous methods and systems for operating a building material system, which respectively have improved characteristics.

Claims

1. A method for operating a building material system (1), wherein, the building material system (1) has a discharging device (2), a distributing mast (3) and controllable drive devices (4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h), wherein the discharging device (2) is configured to discharge building material (BS) from the building material system (1), wherein the distributing mast (3) has displaceable mast sections (3a, 3b, 3c, 3d) for positioning the discharging device (2), and wherein the drive devices (4a-e) are configured to drive the mast sections (3a-d), wherein the method has the following steps: a) By using an input signal (IS) to control the drive devices (4a-e) to stimulate the movement of the distributing mast (3) and by detecting an output signal (OS) caused by the stimulated movement to identify a model (1M) of the building material system (1), b) Determining, in particular calculating, a regulator (RE) according to the identified model (1M), and c) Adjusting the building material system (1) by means of the determined regulator (RE), in particular for reaching and / or for maintaining a set position of the distributing mast (3).

2. The method according to the preceding claim, wherein, the input signal (IS) is used to stimulate the spectrum of the distributing mast (3).

3. The method according to any one of the preceding claims, wherein, the input signal (IS) has, in particular a step (SP), in particular steps of different durations (ZD) and / or different amplitudes (AT).

4. The method according to any one of the preceding claims, wherein, step a) is carried out for different positions of the distributing mast (3) and / or for different loadings of the distributing mast (3) with building material (BS) to identify different models (1M) of the building material system (1), and wherein step b) has: according to the identified model (1M), determining, in particular only determining the regulator (RE), in particular the only regulator (RE).

5. The method according to any one of the preceding claims, wherein, step a) is carried out by means of a regulator (ERE) that is simpler than the regulator (RE) determined in step b), in particular a P-regulator (PRE), and / or wherein the model (1M) has, in particular a linear model (1LM), and / or wherein the regulator (RE) determined in step b) has, in particular a linear regulator (LRE), in particular an LQ-regulator, an LQG-regulator, an LPV-regulator, and / or a robust regulator (RRE), in particular an H-infinity regulator, and / or a model predictive regulator (MPRE).

6. The method according to any one of the preceding claims, wherein, The construction material system (1) and / or the dispensing mast (3) has a rotation mechanism (5) and / or rotation joints (6a, 6b, 6c, 6d) for displacing the mast sections (3a - d), and / or wherein the output signal (OS) represents the rotational angular position (WSa, WSb, WSc, WSd, WSe) of the mast sections (3a - d), in particular also the rotational angular position speed, in particular the output signal is the rotational angular position (WSa - e), in particular also the rotational angular position speed, and / or wherein the regulator (RE) has a rotational angle regulator (WRE), in particular the rotational angle regulator (WRE).

7. The method according to any one of the preceding claims, wherein, the construction material system (1) has a parallel robot (7), in particular a Delta robot (7'), wherein the dispensing mast (3) is configured to position the parallel robot (7), in particular at the mast top (3S) of the dispensing mast (3), wherein the parallel robot (7) is configured to position the discharge device (2), wherein the drive devices (4f - h) are configured to drive the parallel robot (7), in particular wherein step a) has: actuating the drive devices (4f - h) by means of an input signal (IS) to stimulate the movement of the parallel robot (7) and identifying at least the model (1M) of the construction material system (1) by detecting the output signal (OS) caused by the stimulated movement, in particular wherein the output signal (OS) represents the position (PO) and / or orientation (AR) of the parallel robot (7) and / or the discharge device (2) relative to the construction environment (BU) of the construction material system (1), in particular the position (PO) and / or the orientation (AR), wherein step b) has: determining at least the regulator (RE) based on at least the identified model (1M), and wherein step c) has: regulating the construction material system (1) by means of at least the determined regulator (RE), in particular for achieving and / or maintaining a set position and / or set orientation of the parallel robot (7).

8. The method according to the preceding claim, wherein, the detection of the output signal (OS) caused by the stimulated movement of the parallel robot (7) is carried out by means of an optical measuring device (8), in particular a laser tracker (8').

9. The method according to any one of the two preceding claims, wherein, step b) has: determining the regulator (RE) for adjusting the dispensing mast (3) to position the discharge device (2) such that the parallel robot (7) reaches its central position and / or central orientation, in particular wherein step a) has: identifying a model (1M) having a mast model (3M) of the dispensing mast (3) and a robot model (7M) of the parallel robot (7), wherein step b) has: Determine a mast adjuster (3RE) for adjusting the dispensing mast (3) based on the recognized mast model (3M), and determine a robot adjuster (7RE) for adjusting the parallel robot (7) based on the recognized robot model (7M). By controlling the drive devices (4a - e) using an input signal (IS), while adjusting the parallel robot (7) using the determined robot adjuster (7RE) to reach the set position of the discharge device (2), determine the tip position (SPO) of the mast tip (3S) using the determined mast adjuster (3RE), and identify the system model (SM) of the building material system (1) by means of an output signal (OS) that detects the deviation (DI) between the actual position and the central position of the parallel robot (7) and / or the deviation between the actual orientation and the central orientation of the parallel robot (7). Determine the adjuster (RE) based on the recognized system model (SM). Wherein step c) comprises: adjusting the dispensing mast (3) using the determined adjuster (RE) to position the discharge device (2), and in particular adjusting the parallel robot (7) using the determined robot adjuster (7RE) to position the discharge device (2).

10. The method according to claim 6 and in particular according to any one of claims 7 to 9. Wherein The building material system (1) has a rotating mechanism (5) and an inertial sensor device (9), wherein the inertial sensor device (9) is arranged at the end (3S) of the dispensing mast (3) opposite to the rotating mechanism (5), in particular at the parallel robot (7) and / or the discharge device (2), for detecting an output signal (OS) caused by the movement excited by the rotation of the rotating mechanism (5).

11. The method according to any one of the preceding claims. Wherein The discharge device (2) has, in particular, a print head (2'). Wherein the print head (2') is configured to discharge building material (BS) from the building material system (1) and to shape the building material (BS) to form a building material (BS) strip (ST), in particular for 3D printing of a building component (BWT).

12. The method according to any one of the preceding claims, in particular according to the preceding claim. Wherein Step c) comprises: adjusting the building material system (1) based on the data (DBWT) of the building component (BWT) to be built, in particular to be printed.

13. The method according to any one of the preceding claims. Wherein The method has the following step: during the adjustment of the building material system (1), in particular during the adjustment of the building material system to position the discharge device (2), discharging building material (BS) using the discharge device (2) for the distribution of the building material (BS).

14. The method according to any one of the preceding claims. Wherein The construction material system (1) has a conveying line (10), wherein the conveying line (10) is arranged along the dispensing mast (3) for guiding the construction material (BS) to the discharging device (2), and / or wherein the construction material system (1) has a construction material pump (11), wherein the construction material pump (11) is configured to convey the construction material (BS) to the discharging device (2), in particular through the conveying line (10), and in particular wherein the method has the following steps: during the adjustment of the construction material system (1), in particular during the adjustment of the construction material system for positioning the discharging device (2), the construction material (BS) is conveyed by means of the construction material pump (11).

15. A system (12) for operating a construction material system (1), wherein the system (12) has an identification, determination and adjustment device (13), wherein the identification, determination and adjustment device (13) is configured to carry out the method according to any one of the preceding claims, and in particular wherein the system (12) has the construction material system (1).

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