Method and system for measuring a building material system

Abstract

The invention relates to a method for measuring a building material system (1) using a, in particular exactly one, tachymeter system (2), - wherein the building material system (1) has a discharge device (3) for discharging building material (BS) from the building material system (1) and a movement device (4) for moving the discharge device (3), and - wherein the tachymeter system (2) comprises a first tachymeter part (5) and a second tachymeter part (6), a reflector (7), in particular exactly one, and a tachymeter (8) for interacting with each other, - wherein the first tachymeter part (5) is arranged on the movement device (4) and / or the discharge device to at least partially participate in the movement of the discharge device (3), and wherein the second tachymeter part (6) is arranged independently of the movement of the discharge device (3), and - the procedure includes the following steps: a) Moving the discharge device (3) by means of the movement device (4) and monitoring the accompanying movement of the first tachymeter part (5) by means of interaction with the second tachymeter part (6), in particular during the movement, and b) Measuring the building material system (1) by linking a trajectory (T3) of the movement of the discharge device (3) in a coordinate system (KS1) of the building material system (1) and a trajectory (T5) of the tracked movement of the first tachymeter part (5) in a coordinate system (KS2) of the tachymeter system (2) together.

Description

FIELD OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a method and a system for measuring a building material system. TASK AND SOLUTION

[0002] The object of the invention is to provide a method and a system for measuring a building material system, each of which has improved properties.

[0003] The invention solves this problem by providing a method and a system as described in the independent claims. Advantageous developments and / or refinements of the invention are described in the dependent claims.

[0004] The method according to the invention is for measuring a building material system using one, in particular exactly one, tachymeter system. The building material system has a discharge device for discharging building material from the building material system and a movement device for moving the discharge device. The tachymeter system has a first tachymeter part and a second tachymeter part having one, in particular exactly one, reflector and one, in particular exactly one, tachymeter for interacting with one another. The first tachymeter part is arranged on the movement device and / or the discharge device for at least partially participating, in particular completely participating, in the movement of the discharge device, in particular permanently or continuously and / or fastened. The second tachymeter part is arranged independently of the movement of the discharge device, in particular permanently or continuously.The method comprises the following steps: a) moving the discharge device, and in particular thus moving the first tachymeter part, by means of the movement device and tracking the accompanying movement of the first tachymeter part by interaction with the second tachymeter part, in particular during the movement. b) calibrating the building material system by linking a trajectory of the movement of the discharge device, in particular the movement of the first tachymeter part, in a coordinate system of the building material system and a trajectory of the tracked accompanying movement of the first tachymeter part in a coordinate system of the tachymeter system.

[0005] This enables, in particular steps a) and b), the measurement of the building material system using exactly one tachymeter system comprising exactly one reflector and exactly one tachymeter, and / or eliminates the need for at least two tachymeter systems and / or at least two reflectors and / or at least two tachymeters to measure the building material system. This thus enables the measurement of the building material system to be simple and / or cost-effective.

[0006] Additionally or alternatively, the measurement of the building material system enables a transformation, in particular a calculation or conversion, of coordinates between the coordinate system of the building material system and the coordinate system of the tachymeter system, in particular a rotation or a shifting and / or a shifting. In other words: The measurement of the building material system enables the determination of a position and / or an alignment or an orientation of the building material system or the coordinate system of the building material system in relation to the tachymeter system or the coordinate system of the tachymeter system.

[0007] In particular, the process, measuring, discharging, moving, interacting, tracking and / or linking may be automatic and / or computer-implemented.

[0008] The term “comprises” or “has” can be used synonymously with the term “comprises”.

[0009] The building material system can be mobile, in particular mobile, in particular a car-based building material system.

[0010] The building material can be a thick material, in particular concrete, bentonite, cement, mortar, screed and / or plaster.

[0011] The discharge device may comprise a conveying line. In particular, the conveying line may be arranged at least partially along the movement device.

[0012] The term “positioning” can be used synonymously with the term “moving”.

[0013] The reflector can be a triple mirror and / or a retroreflective triple prism. Additionally or alternatively, the reflector can be a target, in particular a target point, of the total station.

[0014] The tachymeter can be electrical and / or optical, in particular a laser tachymeter, in particular a laser tracker.

[0015] The term "cooperation" can be used synonymously with the term "interaction." Additionally or alternatively, the interaction can include targeting the reflector from the tachymeter and / or emitting a beam, in particular a light beam, from the tachymeter to the, in particular, targeted reflector, reflecting the emitted beam from the reflector or at the target point to the tachymeter, and receiving the emitted and reflected beam from the tachymeter.

[0016] The phrase “to participate or to take part in” can be used synonymously with the phrase “to take part”.

[0017] The second tachymeter part does not need to be arranged to participate in the movement.

[0018] The movement can be predetermined, in particular factory-specified, or known and / or in three different, in particular orthogonal, directions and / or translational and / or controlled, in particular controlled with low vibration.

[0019] Tracking can be timed with and / or after movement and / or continuous.

[0020] The trajectory(s) can be the, in particular temporal, course of the spatial curve, in particular in three-dimensional space, along which the first tachymeter part moves. Additionally or alternatively, the trajectory(s) can represent a movement path of the first tachymeter part through the temporal sequence of coordinates during the runtime. Furthermore, additionally or alternatively, the trajectory(s) can have, in particular three-dimensional, positions or locations or coordinates and / or values, in particular at least two, in particular at least five, in particular at least ten.

[0021] The coordinate system(s) can be described or defined by three different, particularly orthogonal, axes.

[0022] The arrangement, in particular the arrangement position or the arrangement location, in particular in the coordinate system of the building material system, of the first tachymeter part on the movement device and / or the discharge device can be known or predetermined, in particular predetermined at the factory.

[0023] The linking can be a linking of origins and / or directions of the trajectories.

[0024] The calibration may include determining, in particular calculating, a coordinate transformation, in particular a displacement or translation vector and / or at least one rotation angle, in particular a coordinate transformation matrix, and / or quaternions, for transforming coordinates between the coordinate system of the building material system and the coordinate system of the tachymeter system based on the linked trajectories or superimposing the trajectories, in particular using the Kabsch algorithm. Additionally or alternatively, the term "referencing" can be used synonymously with the term "calibration." Furthermore, additionally or alternatively, the calibration may be carried out using a calibration device.

[0025] Step b) can be performed simultaneously with and / or after step a). In particular, steps a) and b) can be performed repeatedly, especially multiple times, or the calibration can be gradually refined over time.

[0026] In a further development of the invention, the method comprises calibrating the tachymeter system, in particular the coordinate system of the tachymeter system, with respect to a coordinate system of a construction environment of the building material system, in particular a world coordinate system, by means of the steps, in particular prior to steps a) and b): Partially arranging one, in particular exactly one, further tachymeter part for interaction with the second tachymeter part at survey points in the construction environment, in particular manually and / or by a user. Calibrating the tachymeter system by means of interaction with the further tachymeter part at the survey points. This enables a transformation of coordinates between the coordinate system of the tachymeter system and the coordinate system of the construction environment and thus a transformation of coordinates between the coordinate system of the building material system and the coordinate system of the construction environment.In particular, the surveying can be automatic and / or computer-implemented. Additionally or alternatively, the phrase “relative to” can be used synonymously with the phrase “with respect to.” Further additionally or alternatively, the construction environment can be a construction site. In particular, the coordinate system of the construction environment can be a construction site coordinate system. Further additionally or alternatively, the term “temporary” can be used synonymously with the term “part-time.” Further additionally or alternatively, the surveying can involve determining a coordinate transformation to transform coordinates between the coordinate system of the tachymeter system or the coordinate system of the building materials system and the coordinate system of the construction environment. For further information, reference is made to the specialist literature, particularly regarding the clear assignment of survey points.

[0027] In one embodiment of the invention, the first tachymeter part is the reflector, the second tachymeter part is the tachymeter, and the further tachymeter part is a further reflector. Calibrating the tachymeter system involves determining at least one position of at least one survey point of the survey points, in particular positions of the survey points. During the interaction, the further reflector is moved around the survey point by means of a spacer, in particular a rod and / or on a section of a spherical surface, in particular manually and / or by a user, until the position is determined during this time by estimation, in particular by means of an observer, in particular a Kalman filter. This enables a low-memory and / or accurate and / or rapid determination of the position, in particular in real time.In particular, the determination can be automatic and / or computer-implemented and / or carried out by means of a storage device. Additionally or alternatively, the position can have values. Further additionally or alternatively, the spherical surface can be a sphere with a center equal to the survey point. Further additionally or alternatively, the estimation can be iterative. Further additionally or alternatively, the Kalman filter can be implicit and / or extended. Further additionally or alternatively, an end of the determination, in particular of the position sufficiently accurately, can be output, in particular displayed, by user-perceivable information, such as a traffic light signal. Further additionally or alternatively, the combination of the features of this claim 3 and the preceding claim 2 can be an independent invention independent of the features of the preceding claim 1.

[0028] In a further development of the invention, the interaction is achieved by means of precisely one, in particular bidirectional, beam connection, particularly between the total station and the reflector. This enables the measurement of the building material system to be particularly simple and / or particularly cost-effective.

[0029] In a further development of the invention, the building material system has at least one controllable drive device for driving the movement device to move the discharge device and / or at least one sensor for detecting the movement. The trajectory of the movement of the discharge device is based, in particular is calculated, on controlling the drive device and / or detecting by means of the sensor, and in particular on kinematics of the movement device. Additionally or alternatively, the tachymeter has at least one controllable drive device for tracking the movement of the first tachymeter part and / or at least one sensor for detecting the tracking. The trajectory of the tracked movement of the first tachymeter part is based, in particular is calculated, on controlling the drive device and / or detecting by means of the sensor, and in particular on kinematics of the tachymeter.In particular, the term “control” can be used synonymously with the term “control”. Additionally or alternatively, the term “actuator” can be used synonymously with the term “drive device”. Further additionally or alternatively, the drive device can be electric and / or hydraulic and / or pneumatic. Further additionally or alternatively, the driving and / or sensing can be automatic and / or computer-implemented. Further additionally or alternatively, the term “detect” can be used synonymously with the term “sensing”. Further additionally or alternatively, the sensor can be electric. Further additionally or alternatively, the kinematics can be known or predetermined, in particular predetermined at the factory, and / or be forward kinematics. Further additionally or alternatively, the term “kinematic relationship” can be used synonymously with the term “kinematics”.

[0030] In a further development of the invention, the trajectory of the movement of the discharge device is based on recording the movement. Additionally or alternatively, the trajectory of the tracked, accompanying movement of the first tachymeter part is based on recording the tracking. In particular, the recording can be automatic and / or computer-implemented and / or carried out by means of a storage device. Additionally or alternatively, the term "storage" can be used synonymously with the term "recording."

[0031] In a further development of the invention, the discharge device has a print head for discharging building material from the building material system and for shaping building material to form a strand of building material, in particular for 3D printing a building component. In particular, the discharge device is the print head. This enables the strand to be formed with precise positioning, in particular with respect to the building environment. Additionally or alternatively, this enables calibration in an area, in particular across the entire area, in which the building component is subsequently printed. In particular, the building material system can be referred to as a printing system. Additionally or alternatively, the building material can be concrete, in particular fresh concrete, and / or thixotropic and / or puncture-resistant or dimensionally stable, in particular during discharge. Further additionally or alternatively, the shaping and / or 3D printing can be automatic and / or computer-implemented.Furthermore, additionally or alternatively, the print head can have a discharge or outlet opening for discharging or discharging, in particular the strand, building material from the building material system, in particular in a non-vertical, in particular horizontal, discharge or outlet direction. Further, additionally or alternatively, a strand cross-section, in particular a shape and / or a size of the strand cross-section, of the strand, in particular the discharged strand, can correspond to, in particular be the same as, an opening cross-section, in particular a shape and / or a size of the opening cross-section, of the discharge opening. Further, additionally or alternatively, the opening cross-section of the discharge opening and / or the strand cross-section of the strand can be non-parallel, in particular orthogonal, to the discharge direction. Further, additionally or alternatively, the strand, in particular the discharged and / or shaped strand, can be continuous or extend over, in particular a certain length.Furthermore, or alternatively, the strand can be deposited or applied, in particular layer by layer, on an already formed strand and / or a further strand can be deposited or applied, in particular layer by layer, on the strand(s), in particular in such a way that the strand, in particular the deposited strand, retains its strand cross-section, in particular that of the discharged strand. Further, or alternatively, the structural part can be three-dimensional and / or a building structural part and / or a wall and / or a ceiling. Further, or alternatively, the strand, in particular a width of the strand, can have a thickness, in particular the entire thickness of a wall and / or ceiling. Further, or alternatively, 3D printing can be referred to as additive manufacturing.

[0032] In a further development of the invention, the movement device comprises a fine movement device for moving the discharge device with a short range and high positioning accuracy, and in particular a high speed and / or high acceleration, and a coarse movement device for moving the fine movement device with a long range and low positioning accuracy, and in particular a low speed and / or low acceleration. Step a) comprises: moving the discharge device to an extent greater than the short range, in particular equal to the long range. This enables particularly precise calibration of the building material system. Thus, this enables particularly precise positioning of building material. Additionally or alternatively, this, in particular the long range, enables a large building section.In particular, the short range can be a minimum of 10 mm (millimeters), in particular a minimum of 100 mm, and / or a maximum of 1000 mm, in particular a maximum of 500 mm. Additionally or alternatively, the high positioning accuracy can be a minimum of 50 mm and / or a maximum of 0.1 mm, in particular a maximum of 1 mm. Further additionally or alternatively, the high speed can be a minimum of 10 mm / s (millimeters per second) and / or a maximum of 10 m / s (meters per second). Further additionally or alternatively, the high acceleration can be a minimum of 0.1 m / s. 2 (meters per square second) and / or a maximum of 500 m / s 2Furthermore, or alternatively, the high range can be a minimum of 10 m (meters) and / or a maximum of 100 m. Furthermore, or alternatively, the low positioning accuracy can be a minimum of 500 mm and / or a maximum of 10 mm. Furthermore, or alternatively, the low speed can be a minimum of 10 mm / s and / or a maximum of 2 m / s. Furthermore, or alternatively, the low acceleration can be a minimum of 1 m / s. 2 and / or maximum 20 m / s 2 Furthermore, in addition or alternatively, the term "scope" can be used synonymously with the term "extent."

[0033] In a further development of the invention, the movement device comprises a serial robot, in particular a distribution boom and / or a serial rotating gear in front of, in particular spatially in front of, the serial robot. Additionally or alternatively, the movement device comprises a parallel robot, in particular a delta robot and / or a parallel rotating gear behind, in particular spatially after, the parallel robot. In particular, the parallel robot is arranged, in particular permanently and / or attached, to an end of the serial robot, in particular a mast tip of the distribution boom, in particular opposite the serial rotating gear. This, in particular the serial robot, enables a long range. Additionally or alternatively, this, in particular the serial robot, enables a space-saving and thus easily mobile assembly of the building material system and / or one that can be quickly set up in a construction environment and thus quickly ready for use.Furthermore, or alternatively, this enables, in particular the parallel robot, a particularly precise and, in particular, a particularly fast, movement or positioning of the discharge device. In particular, the parallel robot enables a particularly fast compensation or a particularly fast equalization of a movement or positioning inaccuracy of the serial robot. In particular, the coarse movement device can comprise the serial robot, and in particular the serial rotary gear. Additionally or alternatively, the fine movement device can comprise the parallel robot, and in particular the parallel rotary gear. Furthermore, or alternatively, the term “manipulator” can be used synonymously with the term “robot”. Furthermore, or alternatively, the term “serial robot” can be used synonymously with the term “serial robot”.Furthermore, or alternatively, the term "parallel robot" can be used synonymously with the term "parallel robot." Furthermore, or alternatively, the boom tip can be a free end of the placing boom.

[0034] In one embodiment of the invention, a cranking of the distribution boom is taken into account. In particular, the terms "cranking" or "cranked design" can be used synonymously with the term "cranking."

[0035] In particular, the first tachymeter part can be the tachymeter and the second tachymeter part can be the reflector.

[0036] In a further development of the invention, the first tachymeter part is arranged at one end of the movement device, in particular at an end of the parallel robot, in particular opposite the serial robot, in front of, and in particular spatially in front of, the parallel rotating mechanism. Additionally or alternatively, the second tachymeter part is arranged immobilely, in particular in a, in particular the, construction environment of the building material system. Furthermore, additionally or alternatively, the first tachymeter part is the reflector, and the second tachymeter part is the tachymeter.

[0037] In a further development of the invention, the discharge device has a discharge head having an outlet opening for discharging building material from the building material system. The movement device has at least, in particular precisely, a first movement device part for moving a second movement device part, and the second movement device part has at least one, in particular precisely, rotating mechanism at least, in particular precisely, for rotating the discharge head having the outlet opening. The first tachymeter part is arranged at one end of the first movement device part in front of, in particular spatially in front of, the second movement device part. This enables good visibility of the first tachymeter part from the second tachymeter part and / or no obstruction of the discharge of building material by the first tachymeter part. In particular, the discharge head can be the pressure head.Additionally or alternatively, the outlet opening for discharging building material from the building material system can be in a non-vertical, in particular horizontal, outlet direction. Further additionally or alternatively, the first movement device part can comprise the serial robot, and in particular the serial rotating gear, and / or the parallel robot. Further additionally or alternatively, the second movement device part can comprise the parallel rotating gear. Further additionally or alternatively, the rotating gear can be the parallel rotating gear. Further additionally or alternatively, a rotation axis of the rotating gear can be non-horizontal, in particular vertical. Further additionally or alternatively, the discharge head can comprise a deflection device or a deflection element.The deflection device can be arranged upstream of the outlet opening and designed to deflect a flow of building material, in particular from the non-horizontal, in particular vertical, direction, in particular from top to bottom, towards the outlet opening, in particular in the outlet direction, in particular from back to front. In particular, the term "configured" can be used synonymously with the term "designed". Further, additionally or alternatively, the second movement device part can be arranged below the first movement device part. Further, additionally or alternatively, the discharge head, in particular the outlet opening, can be arranged below the second movement device part. This can enable the discharge of building material from a low height.

[0038] In one embodiment of the invention, the first tachymeter part is the reflector and the second tachymeter part is the tachymeter. The method comprises calibrating the discharge head having the outlet opening by means of the steps, in particular chronologically after steps a) and b): determining a position of the reflector by means of interaction with the tachymeter. Partially arranging a further reflector for interacting with the tachymeter at, in particular in, the outlet opening, in particular a center of the outlet opening, for participating at least in the rotation of the discharge head, in particular manually and / or by a user. At least rotating the discharge head, and in particular thus rotating the further reflector, by means of at least the rotating mechanism and tracking at least the participated rotation of the further reflector by means of interaction with the tachymeter, in particular during at least the rotation and / or until the position of the reflector is unchanged.Calibrating the discharge head by linking the determined position of the reflector and a trajectory of at least the tracked rotation of the further reflector, in particular in the coordinate system of the tachymeter system, and in particular a trajectory of at least the rotation of the discharge head, in particular the rotation of the further reflector, in a coordinate system of at least the rotating mechanism. This enables conversion from the reflector to the outlet opening, in particular a turning or rotation and / or displacement. In other words: Calibrating the discharge head makes it possible to determine the position and / or alignment or orientation of the reflector with respect to the outlet opening. This thus enables compensation or balancing of manufacturing, modification, and / or arrangement inaccuracies of the discharge head and / or the reflector. This thus enables precise discharge of building material.In particular, the measuring, the determining, at least the rotating, the interacting, the tracking and / or the linking can be automatic and / or computer-implemented. Additionally or alternatively, at least the rotating can be predetermined, in particular factory-specified, or known and / or in at least two different, in particular orthogonal, directions and / or controlled, in particular controlled with low vibration. Further additionally or alternatively, the tracking can be temporal with and / or after at least the rotating and / or continuous. Further additionally or alternatively, the trajectory(ies) can be a circular segment. Further additionally or alternatively, the trajectory(ies) can be the, in particular temporal, course of the spatial curve, in particular in three-dimensional space, along which the further reflector rotates.Furthermore, or alternatively, the trajectory(s) can represent a movement path of the further reflector through the temporal sequence of coordinates during runtime. Further, or alternatively, the trajectory(s), in particular three-dimensional, can have positions or locations or coordinates and / or values, in particular at least two, in particular at least five, in particular at least ten. Further, or alternatively, the position can have values. Further, or alternatively, the arrangement, in particular the arrangement position or the arrangement location, of the further reflector can be known or predetermined, in particular predetermined at the factory. Further, or alternatively, the outlet opening, in particular its middle and / or bottom, can be a tool center point (TCP). Further, or alternatively, the measuring can comprise determining, in particular calculating, a displacement orTranslation vector and / or at least one rotation angle for converting from the reflector to the outlet opening based on the linked position and the linked trajectory. Furthermore, additionally or alternatively, the calibration can be carried out using a calibration device. Furthermore, additionally or alternatively, the calibration, in particular the linking, can be carried out chronologically with and / or after the determining, at least the rotating and the tracking. Furthermore, additionally or alternatively, the further reflector can be removed chronologically after at least the rotating and tracking, in particular enabling unhindered discharge of building material. Furthermore, reference is made to the specialist literature, in particular for a clear assignment of the reflector and the further reflector.

[0039] The method according to the invention is for operating the building material system. The method comprises: the method for measuring the building material system. Moving the discharge device by means of the movement device of the measured building material system and discharging building material by means of the discharge device during the movement, and in particular regulating the movement by means of the, in particular exactly one, tachymeter system. In particular, the method, the operation, the movement, the discharge and / or the regulation can be automatic and / or computer-implemented. Additionally or alternatively, the method, in particular the regulation, can be carried out by means of a monitoring device, in particular a control and / or regulating device. Furthermore, additionally or alternatively, the measuring and operation can be carried out repeatedly, in particular repeated several times, or the measuring can be carried out gradually in time with the operation orbe refined during operation.

[0040] The system according to the invention is for calibrating the building material system by means of the, in particular precisely one, tachymeter system, in particular for operating the building material system. The system is designed or programmed to carry out, in particular automatically carry out, the method. In particular, the system comprises the building material system and / or the tachymeter system. The system can enable the same advantages as the method. In particular, the building material system and / or the tachymeter system can be designed at least partially or completely as described for the method. Additionally or alternatively, the system can comprise the calibrating device, the storage device and / or the control device, and in particular the further tachymeter part and / or the further reflector.In particular, the calibration device, the storage device and / or the control device can have an electrical and / or a processor and / or a memory, in particular a computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Further advantages and aspects of the invention emerge from the claims and from the description of exemplary embodiments of the invention, which are explained below with reference to the figures. In the figures: Fig. 1 schematically shows a system according to the invention comprising a building material system and a tachymeter system and a method according to the invention for measuring the building material system by means of the tachymeter system, Fig. 2 schematically shows the system and the method during operation of the building material system according to the invention, Fig. 3 schematically shows a discharge device comprising a discharge and / or pressure head and a building material pump of the building material system during operation, Fig. 4 schematically shows a building component 3D-printed using the building material system from formed strands of building material, Fig. 5 schematically shows the discharge head and a movement device of the building material system, Fig. 6 schematically shows a trajectory of a movement of the discharge device and a trajectory of a tracked movement of a first tachymeter part of the tachymeter system, Fig. 7 and Fig. 8 schematically further shows the trajectory of the movement of the discharge device and the trajectory of the tracked movement of the first tachymeter part, Fig. 9 schematically shows a calibration of the tachymeter system of the method by means of another tachymeter part while moving on a spherical surface around a survey point, and Fig. 10 schematically shows a calibration of the discharge head of the method by means of a position of the first tachymeter part in the form of a reflector and a trajectory of a tracked rotation of another reflector. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Fig. 1 to 10 show a method according to the invention and a system 100 according to the invention for measuring a building material system 1 by means of one, in particular exactly one, tachymeter system 2, in particular for operating the building material system 1.

[0043] The system 100 is configured to carry out the method, in particular, carries it out. In particular, the system 100 comprises the building material system 1 and / or the tachymeter system 2.

[0044] The building material system 1 has a discharge device 3 for discharging building material BS from the building material system 1 and a movement device 4 for moving the discharge device 3. The tachymeter system 2 has a first tachymeter part 5 and a second tachymeter part 6 having one, in particular exactly one, reflector 7 and one, in particular exactly one, tachymeter 8 for interacting with each other. The first tachymeter part 5 is arranged on the movement device 4 and / or the discharge device 3 for at least partially participating in the movement of the discharge device 3. The second tachymeter part 6 is arranged independently of the movement of the discharge device 3. The method comprises the steps: a) moving the discharge device 3 by means of the movement device 4 and tracking the participated movement of the first tachymeter part 5 by means of interaction with the second tachymeter part 6, in particular during the movement.b) Measuring the building material system 1 by linking a trajectory T3 of the movement of the discharge device 3 in a coordinate system KS1 of the building material system 1 and a trajectory T5 of the tracked, accompanying movement of the first tachymeter part 5 in a coordinate system KS2 of the tachymeter system 2, as in . Fig. 6 to 8, in particular by means of a calibration device 101 of the system 100.

[0045] In detail, the method comprises a calibration of the tachymeter system 2, in particular the coordinate system KS2 of the tachymeter system 2, in relation to a coordinate system KSBU of a construction environment BU of the building material system 1, in particular a world coordinate system WKS, by means of the steps, in particular prior to steps a) and b): Partially arranging a, in particular exactly one, further tachymeter part 9 for interacting with the second tachymeter part 6 at survey points VP in the construction environment BU, as in Fig. 9. Calibration of the tachymeter system 2 by means of interaction with the further tachymeter part 9 at the survey points VP, in particular by means of the calibration device 101.

[0046] In detail, the first tachymeter part 5 is the reflector 7 and the second tachymeter part 6 is the tachymeter 8, and in particular the further tachymeter part 9 is another reflector 10.

[0047] The calibration of the tachymeter system 2 comprises determining at least one position POVP of at least one survey point VP of the survey points VP. During the interaction, the further reflector 10 is moved around the survey point VP by means of a spacer 11, in particular a rod 11' and / or on a section AB of a spherical surface KO, until the position POVP is determined by estimation, in particular by means of an observer BE, in particular a Kalman filter KF, in particular by means of a memory device 102 of the system 100.

[0048] In alternative embodiments, the calibration of the tachymeter system 2 can be carried out without spacers, in particular with the further tachymeter part 9, in particular the further reflector 10, arranged directly on the at least one measurement point VP.

[0049] Furthermore, the interaction by means of exactly one, in particular bidirectional, beam connection is SV.

[0050] In addition, the building material system 1 comprises at least one controllable drive device 12 for driving the movement device 4 to move the discharge device 3 and / or at least one sensor 13 for detecting the movement. The trajectory T3 of the movement of the discharge device 3 is based on controlling the drive device 12 and / or detecting it by means of the sensor 13, and in particular on a kinematics KI4 of the movement device 4.

[0051] Additionally or alternatively, the tachymeter 8 has at least one controllable drive device 14 for tracking the accompanying movement of the first tachymeter part 5 and / or at least one sensor 15 for detecting the tracking. The trajectory T5 of the tracked accompanying movement of the first tachymeter part 5 is based on controlling the drive device 14 and / or detecting it by means of the sensor 15, and in particular on a kinematics of the tachymeter KI8.

[0052] Furthermore, the trajectory T3 of the movement of the discharge device 3 is based on recording the movement, in particular by means of the storage device 102.

[0053] Additionally or alternatively, the trajectory T5 of the tracked movement of the first tachymeter part 5 is based on recording the tracking, in particular by means of the storage device 102.

[0054] In addition, the discharge device 4 has a print head 16 for discharging building material BS from the building material system 1 and for shaping building material BS to form a strand ST of building material BS, in particular for 3D printing of a building part BWT, as shown in Fig. 3 and Fig. 4. In particular, the discharge device 3 is the print head 16.

[0055] Furthermore, the movement device 4 has a fine movement device 17 for moving the discharge device 3 with a short range R17 and a high positioning accuracy P17, and in particular a high speed v17 and / or a high acceleration a17, and a coarse movement device 18 for moving the fine movement device 17 with a long range R18 and a low positioning accuracy P18, and in particular a low speed v18 and / or a low acceleration a18, as shown in Fig. 2. Step a) includes:

[0056] Moving the discharge device 3 to an extent AU higher than the low range R17, in particular equal to the high range R18, as in Fig. 7 shown.

[0057] In addition, the movement device 4 has a serial robot 19, in particular a distribution boom 20 and / or a serial rotating mechanism 21 in front of the serial robot 19, as shown in Fig. 2 shown.

[0058] Additionally or alternatively, the movement device 4 has a parallel robot 22, in particular a delta robot 23 and / or a parallel rotary mechanism 24 after the parallel robot 22, as shown in Fig. 5 shown.

[0059] In particular, the parallel robot 22 is arranged at an end E19 of the serial robot 19, in particular a mast tip S20 of the distribution boom 20, in particular opposite the serial rotating gear 21.

[0060] In detail, a cranking K20 of the distribution boom 20 is taken into account.

[0061] Furthermore, the first tachymeter part 5 is arranged at one end E4 of the movement device 4, in particular at one end E22 of the parallel robot 22 in front of the parallel rotating gear 24, in particular opposite the serial robot.

[0062] Additionally or alternatively, the second tachymeter part 6 is arranged immobile, in particular in the construction environment BU of the building material system 1.

[0063] In addition, the discharge device 3 has a discharge head 25 having an outlet opening O25 for discharging building material BS from the building material system 1, as shown in Fig. 5. The movement device 4 has at least a first movement device part 26 for moving a second movement device part 27, and the second movement device part 27 has at least one, in particular exactly one, rotating mechanism 28 for at least, in particular exactly, rotating the discharge head 25 having the outlet opening O25. The first tachymeter part 5 is arranged at one end E26 of the first movement device part 26 in front of the second movement device part 27.

[0064] In detail, the method comprises calibrating the discharge head 25 having the outlet opening O25 by means of the steps, in particular chronologically after steps a) and b): determining a position PO7 of the reflector 7 by means of interaction with the tachymeter 8. Partially arranging a further reflector 29 for interacting with the tachymeter 8 at, in particular in, the outlet opening O25, in particular a center MO25 of the outlet opening O25, to participate at least in the rotation of the discharge head 25. At least rotating the discharge head 25 by means of at least the rotating mechanism 28 and tracking at least the participated rotation of the further reflector 29 by means of interaction with the tachymeter 8, in particular during at least the rotation.Calibration of the discharge head 25 by linking the determined position PO7 of the reflector 7 and a trajectory T29 of at least the tracked rotation of the further reflector 29, in particular in the coordinate system KS2 of the tachymeter system 2, and in particular a trajectory T29' of at least the rotation of the discharge head 25 in a coordinate system KS28 of at least the rotating mechanism 28, with one another, as in . Fig. 10, in particular by means of the calibration device 101.

[0065] In other words: The method, in particular the calibration of the building material system 1, comprises calibration of the first movement device part 26 by means of the, in particular exactly one, tachymeter system 2 by means of the following steps, in particular prior to calibration of the discharge head 25: a) Moving the second movement device part 27 by means of the first movement device part 26 and tracking the accompanying movement of the reflector 7 by means of interaction with the tachymeter 8, in particular during the movement.b) Calibrating the first movement device part 26 by linking a trajectory T27 of the movement of the second movement device part 27 in a coordinate system KS26 of the first movement device part 26, in particular the trajectory T3 in the coordinate system KS1 of the building material system 1, and a trajectory T7 of the tracked, concurrent movement of the reflector 7 in the coordinate system KS2 of the tachymeter system 2, in particular the trajectory T5, with one another, as in . Fig. 6, in particular by means of the calibration device 101.

[0066] The method according to the invention for operating the building material system 1 comprises: The method for calibrating the building material system 1. Moving the discharge device 3 by means of the movement device 4 of the calibrated building material system 1 and discharging building material BS by means of the discharge device 3 during the movement, and in particular controlling the movement by means of the, in particular exactly one, tachymeter system 2, in particular by means of a control device 103 of the system 100.

[0067] In particular, the movement of the coarse movement device 18 and / or the serial robot 19 for positioning the discharge device 3 is controlled such that the fine movement device 17 and / or the parallel robot 22 reaches a center position and / or a center alignment.

[0068] Additionally or alternatively, the movement and / or the discharge are / is carried out, in particular controlled, depending on data DBWT of the structural part BWT, in particular a construction or design plan and / or in the storage device 102.

[0069] Furthermore, the building material system 1 comprises a building material pump for conveying, in particular automatic and / or computer-implemented conveying, building material BS, in particular at least partially along the movement device 4 and / or to the discharge device 3, as shown in Fig. 2 shown.

[0070] Additionally or alternatively, the tachymeter system 2, the discharge device 3, the movement device 4, the drive device 12, the sensor 13, the drive device 14, the sensor 15, the building material pump, the measuring device 101, the storage device 102 and / or the control device 103 are, in particular each, designed to interact with one another, in particular interact with one another.

[0071] In other words: Through calibration, the exact location of the building material system on the construction site is known. This means that the orientation of the print head in the construction site coordinate system is known and can be positioned in the printing direction of the building component, such as a wall.

[0072] This enables the most accurate description of the building material system in relation to the construction site coordinate system for a controller. This provides the controller, as well as a feedforward control of the compensating kinematics (delta robot), with the information on how to best use the actuators and sensor signals to keep control deviations as small as possible.

[0073] This allows the print head to be tracked.

[0074] As the embodiments shown and explained above make clear, the invention provides an advantageous method and an advantageous system for measuring a building material system which has improved properties.

Claims

[1] Method for measuring a building material system (1) by means of one, in particular exactly one, tachymeter system (2), - wherein the building material system (1) has a discharge device (3) for discharging building material (BS) from the building material system (1) and a movement device (4) for moving the discharge device (3), and - wherein the tachymeter system (2) comprises a first tachymeter part (5) and a second tachymeter part (6) comprising one, in particular exactly one, reflector (7) and one, in particular exactly one, tachymeter (8) for interacting with each other, - wherein the first tachymeter part (5) is arranged on the movement device (4) and / or the discharge device for at least partially participating in the movement of the discharge device (3), and wherein the second tachymeter part (6) is arranged independently of the movement of the discharge device (3), and - the method comprising the steps of: a) moving the discharge device (3) by means of the movement device (4) and tracking the accompanying movement of the first tachymeter part (5) by means of interaction with the second tachymeter part (6), in particular during the movement, and b) measuring the building material system (1) by linking a trajectory (T3) of the movement of the discharge device (3) in a coordinate system (KS1) of the building material system (1) and a trajectory (T5) of the tracked, concurrent movement of the first tachymeter part (5) in a coordinate system (KS2) of the tachymeter system (2). [2] Method according to the preceding claim, - wherein the method comprises calibrating the tachymeter system (2), in particular the coordinate system (KS2) of the tachymeter system (2), with respect to a coordinate system (KSBU) of a construction environment (BU) of the building material system (1), in particular a world coordinate system (WKS), by means of the steps, in particular prior to steps a) and b): - temporarily arranging one, in particular exactly one, further tachymeter part (9) for interaction with the second tachymeter part (6) at surveying points (VP) in the construction environment (BU), and - Calibration of the tachymeter system (2) by means of interaction with the further tachymeter part (9) at the survey points (VP). [3] Method according to the preceding claim, - wherein the first tachymeter part (5) is the reflector (7), the second tachymeter part (6) is the tachymeter (8) and the further tachymeter part (9) is a further reflector (10), and - wherein the calibration of the tachymeter system (2) comprises determining at least one position (POVP) of at least one survey point (VP) of the survey points (VP), wherein during the interaction the further reflector (10) is moved around the survey point (VP) by means of a spacer (11), in particular a rod (11') and / or on a section (AB) of a spherical surface (KO) until the position (POVP) is determined during this time by means of estimation, in particular by means of an observer (BE), in particular a Kalman filter (KF). [4] Method according to one of the preceding claims, - wherein the interaction is by means of exactly one, in particular bidirectional, beam connection (SV). [5] Method according to one of the preceding claims, - wherein the building material system (1) has at least one controllable drive device (12) for driving the movement device (4) to move the discharge device (3) and / or at least one sensor (13) for detecting the movement, wherein the trajectory (T3) of the movement of the discharge device (3) is based on controlling the drive device (12) and / or detecting by means of the sensor (13), and in particular a kinematics (KI4) of the movement device (4), and / or - wherein the tachymeter (8) has at least one controllable drive device (14) for tracking the accompanying movement of the first tachymeter part (5) and / or at least one sensor (15) for detecting the tracking, wherein the trajectory (T5) of the tracked accompanying movement of the first tachymeter part (5) is based on controlling the drive device (14) and / or detecting by means of the sensor (15), and in particular a kinematics (KI8) of the tachymeter (8). [6] Method according to one of the preceding claims, - wherein the trajectory (T3) of the movement of the discharge device (3) is based on recording the movement, and / or - wherein the trajectory (T5) of the tracked movement of the first tachymeter part (5) is based on recording the tracking. [7] Method according to one of the preceding claims, - wherein the discharge device (3) has, in particular is, a print head (16) for discharging building material (BS) from the building material system (1) and for shaping building material (BS) to form a strand (ST) of building material (BS), in particular for 3D printing a building part (BWT). [8] Method according to one of the preceding claims, - wherein the movement device (4) comprises a fine movement device (17) for moving the discharge device (3) with a short range (R17) and a high positioning accuracy (P17), and in particular a high speed (v17) and / or a high acceleration (a17), and a coarse movement device (18) for moving the fine movement device (17) with a long range (R18) and a low positioning accuracy (P18), and in particular a low speed (v18) and / or a low acceleration (a18), and - wherein step a) comprises: moving the discharge device (3) to an extent (AU) higher than the low range (R17), in particular equal to the high range (R18). [9] Method according to one of the preceding claims, - wherein the movement device (4) comprises a serial robot (19), in particular a distribution boom (20) and / or a serial rotating mechanism (21) in front of the serial robot (19), and / or - wherein the movement device (4) comprises a parallel robot (22), in particular a delta robot (23) and / or a parallel rotary mechanism (24) downstream of the parallel robot (22), - in particular wherein the parallel robot (22) is arranged at an end (E19) of the serial robot (19), in particular opposite the serial rotating mechanism (21), in particular a mast tip (S20) of the distribution boom (20). [10] Method according to the preceding claim, - taking into account a cranking (K20) of the distribution boom (20). [11] Method according to one of the preceding claims, in particular one of the two preceding claims, - wherein the first tachymeter part (5) is arranged at one end (E4) of the movement device (4), in particular at one end (E22) of the parallel robot (22) in front of the parallel rotating mechanism (24), in particular opposite the serial robot (19), and / or - wherein the second tachymeter part (6) is arranged immovably, in particular in a construction environment (BU) of the building material system (1), and / or - wherein the first tachymeter part (5) is the reflector (7) and the second tachymeter part (6) is the tachymeter (8). [12] Method according to one of the preceding claims, - wherein the discharge device (3) has a discharge head (25) having an outlet opening (O25) for discharging building material (BS) from the building material system (1), and - wherein the movement device (4) has at least one first movement device part (26) for moving a second movement device part (27) and the second movement device part (27) having at least one, in particular exactly one, rotating mechanism (28) at least, in particular exactly, for rotating the discharge head (25) having the outlet opening (O25), - wherein the first tachymeter part (5) is arranged at one end (E26) of the first movement device part (26) in front of the second movement device part (27). [13] Method according to the preceding claim, - wherein the first tachymeter part (5) is the reflector (7) and the second tachymeter part (6) is the tachymeter (8), and - wherein the method comprises calibrating the discharge head (25) having the outlet opening (O25) by means of the steps, in particular chronologically after steps a) and b): - Determining a position (PO7) of the reflector (7) by interaction with the tachymeter (8), - temporarily arranging a further reflector (29) for interacting with the tachymeter (8) at, in particular in, the outlet opening (O25), in particular a center (MO25) of the outlet opening (O25), for participating at least in the rotation of the discharge head (25), - at least rotating the discharge head (25) by means of at least the rotating mechanism (28) and tracking at least the accompanying rotation of the further reflector (29) by means of interaction with the tachymeter (8), in particular during at least the rotation, and - Calibrating the discharge head (25) by linking the determined position (PO7) of the reflector (7) and a trajectory (T29) of at least the tracked rotation of the further reflector (29), in particular in the coordinate system (KS2) of the tachymeter system (2), and in particular a trajectory (T29') of at least the rotation of the discharge head (25) in a coordinate system (KS28) of at least the rotating mechanism (28). [14] Method for operating a building material system (1), the method comprising: - a method for measuring the building material system (1) according to one of the preceding claims, and - moving the discharge device (3) by means of the movement device (4) of the measured building material system (1) and discharging building material (BS) by means of the discharge device (3) during the movement, and in particular regulating the movement by means of the, in particular exactly one, tachymeter system (2). [15] System (100) for measuring a building material system (1) by means of one, in particular exactly one, tachymeter system (2), in particular for operating the building material system (1), wherein the system (100) is designed to carry out a method according to one of the preceding claims, in particular wherein the system (100) comprises the building material system (1) and / or the tachymeter system (2).

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