Cable laying system for the automated laying of cables in a building with a cable device and cable device

Description

[0001] The present invention relates to a cable laying system for the automated installation of cables in a building, comprising a cable laying device, in particular a cable installation robot, with a mobile base and a laying unit arranged on the base for laying a cable. The present invention further relates to a cable laying device and a cable for such a cable laying system. Technological background

[0002] When constructing or renovating buildings, such as commercial or residential properties, especially houses or apartments, a needs-based electrical installation must be ensured. This includes installing cables, particularly electrical wiring, power outlets, light switches, and, more recently, smart electrical devices, especially those connected to the internet for the so-called Smart Home. Such installation work is time-consuming and expensive. Furthermore, with the increasing number of devices to be installed and the corresponding increase in the number of cables to be laid, the documentation requirements are constantly growing. It is essential that even many years later, it can be easily determined where cables are located in a wall or masonry of a building, what purpose they serve, and what devices they are connected to.

[0003] US patent 2020 / 0358277 A1 discloses a device and a method for laying fiber optic cables in a data center using one or more cable-laying robots. The device and method employ a route calculation algorithm. The cable positions are calculated and optimized. The cable ends can be marked with a barcode or an RFID identifier. A database stores the status of all cables, as well as their starting and ending positions.

[0004] CN 212676780 U discloses a cable-laying robot with navigation and automatic obstacle avoidance. The robot incorporates a LiDAR system and a gyroscope, which enable intelligent navigation and allow the cable-laying robot to autonomously travel to a predetermined location.

[0005] From EP 3 836 325 A1, a tube bundle and a tube system are known. The tube bundle comprises a number of tubes made of a polymer material, which are arranged in a sheath of polymer material, wherein at least one tube has a tube marking on or in its outer surface, which is formed at repeating intervals.

[0006] EP 2 226 902 A1 describes a cable with a marking on it. Part of the marking identifies the cable and is repeated lengthwise along the cable. A second part of the marking changes along the cable. Part of the marking may be in the form of a barcode or QR code.

[0007] JP 2019-140712 A discloses a cable routing management system that uses identification information printed on cables. This identification information is recognized using image processing.

[0008] A method for laying cables is known from CN 112332306 A. Description of the invention: Problem, solution, advantages

[0009] The object of the present invention is to provide a cable laying system for the automated laying of cables in a building, with which cables for an electrical installation can be laid efficiently and with little time expenditure, and which ensures that the laid cables can be safely located for later maintenance and renovation projects.

[0010] To solve the problem underlying the invention, a cable laying system for the automated laying of cables in a building is proposed, comprising a cable laying device, in particular a cable installation robot, with a mobile base and a laying unit arranged on the base for laying a cable, wherein it is further provided that the cable laying device includes a position determination unit for determining the position of laid cable sections, and wherein the cable laying system is configured to store the position of laid cable sections in a storage device, that the cable laying device has a telescopic arm and / or folding arm, wherein the laying unit is attached to the telescopic arm and / or folding arm, and that the position determination unit has position sensors for determining an orientation and a horizontal position of the cable laying device.and position sensors for determining the position of the laying unit attached to the telescopic or folding arm, that the cable laying device includes a sensor arrangement, wherein the sensor arrangement is configured to create a floor plan and / or a 3D model of a room of the building, and that the cable laying system includes a computing device, wherein the computing device is configured to create a laying plan using a created floor plan or 3D model, wherein the laying plan includes the position or location of the cables or cable sections to be laid and of electrical equipment or modules.

[0011] The cable laying system comprises a cable laying device designed to lay cables, in particular electrical cables or wires, within a building, specifically within a wall or masonry of a building. For this purpose, the cable laying device has a mobile base and a laying unit. The mobile base facilitates the movement of the cable laying device within the building, particularly along its walls. The laying unit enables the cable laying device to lay the cables within the space.

[0012] According to the invention, the cable laying device includes a position determination unit. This unit serves to determine the position of the laid cable sections, specifically their location, orientation, and height within or on the wall or masonry. Furthermore, the cable laying system is designed to store the position of the laid cable sections in a memory device. This makes it possible to determine and save the actual position of the laid cables during the laying process, allowing for the creation of a precise plan of the installed cables and, if applicable, the actual position of junction boxes. For subsequent maintenance or renovation work, even concealed cables can then be easily located and their positions traced to the junction boxes, light switches, or other electrical devices connected to them.Smart Home devices can be assigned.

[0013] The exact plan of the actual positions of the laid cables or cable sections, which can be determined from the data of the storage device after the cables have been laid, can serve as the basis for further installation work by other trades as well.

[0014] Preferably, the positions of laid cable sections can be assigned to further information and saved together with it. Furthermore, the digital plan of the electrical installation obtained from the saved data can be supplemented with the ongoing construction progress.

[0015] The positions of laid cable sections are preferably stored in a database of the storage device.

[0016] A further advantage is that the cable laying system is designed to generate an installation plan of the laid cable sections.

[0017] In particular, the cable laying system is thus not only designed to save the position of laid cable sections, but also to insert the positions of the laid cable sections into a, preferably digital, floor plan of a building or a room of the building.

[0018] It is further preferred that the cable laying system comprises a cable to be laid, wherein the cable to be laid has a marking, preferably a machine-readable code, at regular intervals, and / or wherein the cable laying device has a marking device, wherein the marking device is designed, preferably during the laying of the cable, to provide the cable with a marking, preferably with a machine-readable code, at regular intervals.

[0019] The marking can take the form of a machine-readable code such as a barcode, linear code, QR code, or micro-QR code, or a color code. Alternatively, the marking can be in the form of notches in the cable's insulation material or stickers affixed to the cable. The marking can be applied to the cable's insulation material by printing, embossing, or milling.

[0020] The regularly spaced markings allow each cable section to be recorded and stored in the storage device along with its data, such as position, length, location, height, orientation, its connection to other cable sections, the IP addresses of electrical devices connected to the cable sections (e.g., smart home devices), manufacturer data, and installation date. This enables complete and seamless documentation of the installed cables and the electrical installation. In particular, unlike prior art methods, not only are the cable ends marked, but each cable, and especially each cable section, also has markings at regular intervals between the cable ends. These markings, along with other information, allow the path of each cable within the masonry or wall to be traced.

[0021] In this context, the cable laying device may include a material supply, in particular a cable reel, on which the marked or to be marked cable is arranged and stored.

[0022] If a marking device is provided, it is specifically designed to apply the marking directly before or during the laying of the cable. This allows the applied marking to be stored in the storage device simultaneously with the detected position of the cable or cable section.

[0023] It is therefore preferred that each cable section has a marking, and / or that the marking device is designed to provide each cable section with a marking.

[0024] The cable sections can have a predetermined length, for example, one meter or less. This makes it possible to identify each cable section by its marking and to locate its position in a wall or masonry of a building using the positions of the installed cable sections stored in the memory device.

[0025] Particularly preferred is the marking being an infinite and / or continuous marking, wherein the marking changes at intervals along the cable of less than 5 cm, preferably less than 3 cm, particularly preferably less than 1 cm, so that each cable section with a length of less than 5 cm, preferably less than 3 cm, particularly preferably less than 1 cm, is individually marked.

[0026] The marking thus changes on very short length scales of, for example, less than 5 cm, so that each correspondingly short cable section can be clearly identified and located.

[0027] It is particularly preferred that the marking be an infinite and / or continuous machine-readable code. This can, for example, consist of single-colored lines in the style of a barcode, which has lines or spaces of varying widths along the cable. The marking changes virtually every centimeter, thus uniquely identifying each section of the cable.

[0028] A further advantage is that the cable has a shield, and / or that the cable has insulation, wherein the insulation of the cable consists wholly or partly of a transparent material, the transparent material being designed to conduct coupled light.

[0029] The transparent material can, for example, be in the form of a light guide embedded in the insulation. This transparent material makes it possible to couple light into one end of a laid cable and, based on the light emerging from the other end, to uniquely identify it and thus match the corresponding cable ends.

[0030] It is also preferably provided that the cable laying system is designed to store the position of laid cable sections together with the marking arranged on the cable section in the storage device.

[0031] It is particularly preferred that the cable laying system is designed to store the position of laid cable sections together with further information, in particular the length and / or the location and / or the orientation of the laid cable sections, and / or the markings of further cable sections connected to the respective cable section, and / or the IP addresses of modules connected or to be connected to the laid cable sections, and / or a date, in the storage device.

[0032] It may be possible to store this data in BIM (Building Information Modeling) format. By saving this information, preferably together with the identification of the respective cable section and its position in the storage device, every visible or exposed cable section can later be identified.

[0033] Modern buildings increasingly utilize intelligent modules, particularly smart electrical devices, also known as Smart Home devices. These intelligent modules or devices can exchange data with each other and / or with the internet via the cables laid by the wiring system. For this purpose, each module is assigned an IP address. By storing the IP addresses of the modules connected or to be connected to the installed cable section, a fault can be identified for each module based on the data in the storage device, allowing its location within the wall or masonry to be determined. This enables rapid maintenance or repair of electrical installation faults.

[0034] The modules can also include junction boxes, power outlets or sockets, switches, sensors, lights, door or window contacts, control panels, WLAN transmitters, LiFi transmitters or cable connections.

[0035] Furthermore, the cable laying device may be provided with a marking sensor for detecting and / or reading the marking of the cable.

[0036] This is particularly advantageous when the cable, or the cable to be laid, already has a marking from the factory and this marking is not applied later using a marking device on the cable laying machine. The marking sensor is designed accordingly, depending on the type of marking. If the marking is a barcode, a barcode or linear code reader is used. For a color code, the marking sensor is designed to detect the color code. This can be done, for example, using a camera system.

[0037] A further advantage is that the cable laying device includes a milling unit, wherein the milling unit is configured to produce a cable duct in a wall or masonry of the building, and wherein the laying unit is configured to lay a cable section to be laid in a cable duct produced by the milling unit.

[0038] The milling unit is specifically designed for producing holes or slots in walls or masonry. Therefore, the milling unit may include a cup drill and / or a slot drill and / or a cutting disc and / or other suitable tools or combinations thereof. Furthermore, the individual tools of the milling unit, such as cup drills, slot drills, or cutting discs, may be interchangeable.

[0039] It is further preferred that the milling unit is attached to the telescopic arm.

[0040] Instead of a telescopic arm, a folding arm can also be provided, or the telescopic arm can additionally be designed as a folding arm. It is also possible to have several telescopic or folding arms, with the laying unit mounted on a first telescopic arm and the milling unit on a second telescopic arm. Using the telescopic and / or folding arm(s), the milling unit and / or the laying unit can be moved vertically and / or horizontally, thus enabling cable installation at any point in the wall.

[0041] Furthermore, the telescopic or folding arm can also be used to lay cables or cable sections in the ceiling or floor of a room or building. The milling and / or laying unit can lay the cables vertically or horizontally. It can also be designed to lay cables or cable sections around curves according to a minimum bending radius.

[0042] The milling and / or laying unit can be designed to work overhead, making it possible to lay cables in the ceiling.

[0043] Furthermore, it may be provided that the cable laying device has a dust extraction device.

[0044] The dust extraction device is arranged in, on, or near the milling unit to directly extract the dust generated during milling, slotting, or drilling of the wall. The dust extraction device may include a collection container. The dust extraction device may be designed as a movable extraction bell that surrounds the entire milling unit and / or installation unit.

[0045] Furthermore, the cable laying device may include a spatula unit and / or a drying stage for drying a spatula material.

[0046] Thus, in one configuration, the cable laying device is designed not only to lay a cable in a cable duct, but also to subsequently fill the cable duct with filler and, if necessary, smooth the wall. To enable the fastest possible further processing of the wall, a drying stage for the filler material can also be provided.

[0047] The spatula unit and / or the drying stage can also be attached to the telescopic or folding arm, or a separate telescopic or folding arm can be provided for the spatula unit and / or the drying stage.

[0048] According to the invention, the cable laying device comprises a sensor arrangement, wherein the sensor arrangement is designed to create a floor plan and / or a 3D model of a room of the building.

[0049] Using its sensor array, the cable laying device can determine its exact location within the room or building. Furthermore, the cable laying device can scan the room for its structural condition and detect any damage or obstacles in its path.

[0050] Based on the floor plan generated by the sensor array, the cables are laid according to actual floor plan data. This means the system does not rely solely on a pre-existing building plan. Furthermore, the position of the laid cables or cable sections can be inserted into a digital building plan that corresponds to the actual floor plan of the room. The cable laying system, in particular a computing device of the system or device, can be configured to compare the measured floor plan with the building plan, transfer an installation plan from the building plan to the measured floor plan or a 3D model of the room, or calculate the correct position of necessary modules and / or electrical equipment for an installation plan or routing plan on-site and before work begins.

[0051] The sensor device may include a laser scanner and / or a LIDAR scanner and / or a direction finder and / or a direction finder and / or a GPS receiver and / or a compass.

[0052] Using a direction finder or receiver, reference points in the room can be measured. GPS receivers and compasses also allow the determination of the geographical location and orientation of the cable laying equipment. Precise surveying of the floor plan, particularly the walls, ceiling, and floor, allows for the detection of unevenness or obstacles not shown in the building plans, such as cables, pipes, or plaster rails already laid on the unfinished wall, and these can be taken into account during cable installation.

[0053] The sensor arrangement also enables the cable laying device to orient itself in the room, to perform navigation in the room and, if necessary, to avoid obstacles.

[0054] A further advantage is that the positioning unit can include the sensor arrangement.

[0055] The positioning device can therefore also include the sensor array or utilize its sensor signals. The orientation and horizontal position of the cable laying device can be determined using the position sensors. The position sensors can be used to determine the position of the telescopic or folding arm, and thus also the laying unit or milling unit arranged within it, in three-dimensional space. Using the position sensors and / or the sensor array, the positions of the laid cables in or on the wall can be precisely determined.

[0056] A further advantage is that the cable laying device includes a sensor for determining the material properties of walls or masonry of the building.

[0057] This allows the cable laying device to select or adjust tools, such as the milling unit, to take into account the material properties of the walls or masonry. In particular, damage or obstacles caused by the wall material can be identified.

[0058] In a preferred embodiment, the cable laying device is designed to connect laid cable sections and / or modules, in particular electrical equipment, preferably junction boxes, sockets, switches, sensors.

[0059] The cable laying system's cable laying device allows for further steps in the electrical installation process within a room or building. The cables laid by the cable laying device's laying unit can be automatically connected by the device itself to electrical equipment or modules, junction boxes, sockets, switches, or sensors, eliminating the need for manual connection.

[0060] Furthermore, the cable laying device can be configured to cut laid cables or cable sections at the correct point, and / or connect them with a terminal, and / or secure the terminal in a flush-mounted box. It can also be configured to release a laid cable or cable section for power transmission. Additionally, the cable laying device can be configured to read a terminal, and / or determine the IP address of a laid or to-be-laid module, and / or store location and connection data in a module's memory.

[0061] The cable laying device can also be designed to connect inserted terminals with the modules, in particular, intelligent SmartHome devices, junction boxes, power outlets or sockets, switches, sensors, lights, door or window contacts, control panels, WLAN transmitters, LiFi transmitters or cable connections.

[0062] According to the invention, the cable laying system comprises a calculating device, the calculating device being configured, preferably based on specifications, to generate a laying plan, wherein the laying plan includes the position or location of the cables or cable sections to be laid, and of electrical devices or modules. The electrical devices or modules may include junction boxes, sockets, switches, and sensors.

[0063] The cable laying system is thus able to create a routing plan for the cables to be laid, if necessary based on external specifications. Therefore, if the building plans do not provide any specifications, the cable laying system can independently calculate the optimal location of modules, switches, sockets, sensors, junction boxes, etc., and execute the work accordingly. The external specifications can be detailed, specifying the number and position of electrical devices or modules, junction boxes, sockets, switches, and sensors, so that the cable laying system essentially only determines the routing plan for the cables to be laid. However, it is also possible that the external specifications only specify the number of electrical devices or modules, junction boxes, sockets, switches, and sensors, in which case the cable laying system also determines the optimal positions for these elements.Furthermore, the external requirements may also include the position of already installed pipes for water, gas or elements that determine the statics.

[0064] A further advantage is that the computing device is designed to perform an artificial intelligence procedure.

[0065] The artificial intelligence process serves in particular to create the installation plan based on the recorded data, such as floor plans or 3D models created by the cable laying device, external specifications or the wall condition.

[0066] It is also preferably provided that the cable laying device has means for surface mounting of cables or cable sections to be laid.

[0067] Thus, the cable laying device can have devices for gluing, hot-gluing or attaching cables to a rough wall, for surface mounting or for later plastering in the cables.

[0068] Furthermore, it is preferably provided that the mobile base of the cable laying device has wheels, wherein the wheels are pivotable about a vertical axis, preferably about 180°, more preferably about 360°.

[0069] It can have three, four or more wheels.

[0070] The cable laying device can travel along the walls of, for example, a rectangular room from corner to corner using its wheels. When the cable laying device reaches a corner of the room, all four wheels rotate 90°, and the device continues its journey at a right angle to move along the next wall and lay cables there.

[0071] Furthermore, it may be provided that the cable laying system includes a central data processing device, in particular a server.

[0072] The central data processing device can comprise the computing device of the cable laying system or perform tasks in addition to the computing device of the cable laying device. In particular, it is possible that the central data processing device includes the storage device for storing the positions of the laid cables or cable sections determined by the positioning unit.

[0073] Furthermore, the central data processing device can be configured to send the construction plan and / or external specifications or installation tasks to the cable laying device. It can also be configured to ensure that the cable laying device maintains constant contact with the central data processing device during cable laying operations. This allows the cable and cable section positions and construction progress stored in the central data processing device's memory to be continuously updated during operation.

[0074] The central data processing device can also be a permanently installed data processing device assigned to the building or room. For example, the central data processing device can run the server for smart home systems. In other words, the building and / or room is then equipped with the central data processing device, which is intended for controlling the smart home systems, monitoring the electrical installation, and creating the actual installation plan for the laid cables.

[0075] Furthermore, it is preferably provided that the central data processing device is configured to apply a high-frequency alternating voltage to the shielding and / or a conductor of a laid cable, and / or that the central data processing device is configured to couple light into the transparent material of the cable's insulation.

[0076] Particularly when, for example, during a renovation project, the installed cables or cable sections need to be identified and located, it is advantageous if the central data processing device can be used to control or address the installed cables in order to locate them. For example, the data processing device can be designed to apply a high-frequency alternating voltage to the shielding and / or a conductor of an installed cable. This causes the shielding or conductor of the cable to act like a radio antenna. The electromagnetic radiation generated by the shielding or conductor can be received and located, for example, with a portable data processing device such as a mobile phone. This makes it possible to locate the installed cables.

[0077] If the central data processing device is also designed to couple light into a transparent material within the insulation of a cable, the light emerging at the other end of the cable can be used to identify the cable. For this purpose, a light source, such as an LED light source, is preferably provided at at least one end of each installed cable. This light source can be switched on and off via the central data processing device.

[0078] A further advantage is that a software application can be provided for a portable data processing device, whereby the positions of laid cable sections can be displayed using the software application running on the portable data processing device, preferably with an augmented reality method.

[0079] The portable data processing device can be a mobile phone, particularly a smartphone. Using the software application, the positions and other information associated with the cables or cable sections can be read from the cable laying system's storage device. By utilizing the portable data processing device's sensors, such as position sensors or a camera, the laid cables can be displayed on the device's screen using an augmented reality (AR) process. The laid cables then appear in their original size, with all relevant information, seemingly floating in front of the wall.

[0080] If modules such as intelligent electrical devices, in particular smart home devices, or, preferably, junction boxes, power outlets or sockets, switches, sensors, lights, door or window contacts, control panels, WLAN transmitters, LiFi transmitters, or cable connections are provided, it can also be provided that the IP address or another suitable identifier is read by means of the portable data processing device, and that the positions of the cables or cable sections assigned to the module are then read from the storage device by means of the software application. Subsequently, the installed cables can be displayed on the screen of the portable data processing device within the framework of an augmented reality procedure.

[0081] Furthermore, a cable is provided for a previously described cable laying system, wherein the cable has a marking, preferably a machine-readable code, at regular intervals.

[0082] All functions, properties and features described above in connection with the cable for the cable laying system can also be transferred accordingly to the cable according to the invention.

[0083] Thus, it can preferably be provided that the marking is an infinite and / or continuous marking, wherein the marking changes at intervals along the cable of less than 5 cm, preferably less than 3 cm, particularly preferably less than 1 cm, so that each cable section with a length of less than 5 cm, preferably less than 3 cm, particularly preferably less than 1 cm, is individually marked.

[0084] It may also preferably be provided that the cable has a shield, and / or that the cable has insulation, wherein the insulation of the cable consists wholly or partly of a transparent material, the transparent material being designed to conduct coupled light.

[0085] Furthermore, a cable laying device, in particular a cable installation robot, is provided for a cable laying system as described above.

[0086] All functions, features and designs explained in connection with the cable laying device of the cable laying system described above can be transferred accordingly to the cable laying device according to the invention.

[0087] The cable laying device preferably comprises a base plate rotatably mounted on the mobile base and / or a housing rotatably mounted on the mobile base.

[0088] The motor drive of the chassis and / or the movable telescopic or folding arms are located on the base plate or in or on the housing.

[0089] The base plate or housing may also include a power supply in the form of a battery or a cable connection.

[0090] Furthermore, the base plate or housing may include a material supply, for example a cable reel, and / or a reservoir for filler, and / or flush-mounted boxes, and / or cable connector modules and / or connection modules and / or terminals.

[0091] Furthermore, the base plate and / or the housing has a marking device for individually marking the cables according to their installation position and use.

[0092] The marking device can alternatively be arranged on a telescopic or folding arm.

[0093] The housing also includes a processing unit for evaluating data from a sensor array, for control purposes, and for communication with the central data processing device or the storage device. The processing unit may also include a WLAN antenna.

[0094] The computing device can also be equipped to perform artificial intelligence procedures.

[0095] Furthermore, the base plate or housing may be provided with an operating unit for switching on the cable laying device, such as a touch display or similar.

[0096] The cable laying device may also feature warning lights and optical indicators for marking or blocking off the work area during operation. Brief description of the characters

[0097] The invention is explained in more detail below with reference to the accompanying figures. These show: Fig. 1 a cable laying system with a cable laying device, Fig. 2 a first embodiment of a cable laying device, Fig. 3 a cable for a cable laying system, Fig. 4 a second embodiment of a cable laying device, and Fig. 5 a third embodiment of a cable laying device. Detailed description of the characters

[0098] In the figures, identical or corresponding elements are marked with the same reference symbols.

[0099] Fig. 1Figure 1 shows a schematic representation of a cable laying system 100 for the automated laying of cables 10 in a building 11. The cable laying system 100 comprises a cable laying device 200, which is designed as a cable installation robot 12. The cable laying device 200 includes a mobile base 13 and a base plate 14 rotatably mounted on the base 13. Furthermore, a telescopic arm 15 is arranged on the base plate 14, at the end of which a milling unit 16 and a laying unit 17 are arranged. The milling unit 16 is designed to mill a cable duct 18 into a wall 19 of the building 11. The laying unit 17 is designed to insert a cable 10 into the cable duct 18 produced by the milling unit 16. The cable laying device 200 is also equipped with a position determination unit 20 for determining the position of laid cable sections 10a.The cable laying system 100 further comprises a central data processing device 22 designed as a server 21 with a storage device 23. The positions of the laid cable sections 10a, determined by the position determination unit 20, are stored in the storage device 23.

[0100] Fig. 2 shows a cable laying device 200 for the cable laying system 100 according to Fig. 1The cable laying device 200, designed as a cable installation robot 12, comprises a mobile base 13 with four wheels 24, which are rotatable through 360° about a vertical axis 25. A base plate 14 is rotatably mounted on the base 13. A telescopic arm 15 is mounted on the rotatable base plate 14. At the end of the telescopic arm are the milling unit 16 for producing a cable duct 18 in the wall of the building 11 and the laying unit 17 for laying a cable 10 in a cable duct 18 produced by the milling unit 16. The cable 10 to be laid is stored on a cable drum 26 mounted on the cable laying device 200 and is fed from the drum to the laying unit 17. For determining the position of the laid cable sections 10a, the positioning unit 20 is provided with a sensor arrangement 27, wherein the sensor arrangement 27 comprises a LIDAR scanner 28 and a GPS receiver 29.Furthermore, position sensors 30 are provided for determining the orientation of the cable laying device 200, and position sensors 31 for detecting the position of the telescopic arm 15. Based on the data from the sensor arrangement 27, the position sensors 30, and the position sensors 31, the position determination unit 20 can precisely determine the position of the laid cable sections 10a, i.e., the orientation, length, height, etc., of the cable sections in the wall 19 of the building 11, and store this information in the storage device 23.

[0101] The cable 10 to be laid has, as shown in Fig. 3 A marking 32 in the form of a machine-readable code 33 is shown, which is applied to the cable 10 at regular intervals 34 of, for example, 5 cm. The marking 32 can be applied beforehand by the manufacturer of the cable 10. In the illustrated embodiment according to Fig. 1 and 2However, the cable laying device 200 has a marking device 35, which is designed to continuously mark the cable 10, which is unwound from the cable drum 26 and laid by the laying unit 17, with the marking 32, for example by printing the marking 32 onto the cable 10. The marking 32 individually marks each cable section 10a with a length of 5 cm, or shorter lengths depending on the application requirements. The cable 10 also has an embedded optical fiber 36 made of a transparent material 36a, which makes it possible to couple light in at one end of the cable 10 and read it out at the other end. This enables subsequent identification and allocation of the different cable ends in an electrical installation.

[0102] Returning to the cable laying device 200 after Fig. 2For the safe positioning of the laid cable sections, this device is also designed to first perform a survey of the room in which the cable 10 is to be laid using the sensor arrangement 27. This results in a precise floor plan or a precise 3D model of the room. A computing device 37 of the cable laying device 200 uses the sensor data to detect obstacles that must be taken into account or rerouted during the laying of the cable 10. Such obstacles can be door lintels, window frames 52, or existing water or gas lines 38. For laying the cable 10, the computing device 37 of the cable laying device 200 is designed to calculate a laying plan for the cable 10 in which these obstacles are taken into account. Based on the laying plan, the cable laying device 200 then lays the cable 10. Furthermore, the cable laying device 200 detects Fig. 2A sensor 39 is installed to determine the material properties of the wall 19. For example, a moisture sensor or a hardness sensor may be provided. This enables the cable laying device 200 to adjust the operating parameters of the milling unit 16 and the laying unit 17 in such a way as to ensure the cleanest and fastest possible laying of the cable 10.

[0103] The computing device 37 of the cable laying device 200 can receive a construction plan and further specifications for laying the cable 10 from the central data processing device 22 of the cable laying system 100. These further specifications can include, for example, the number and position of modules 53 to be provided, such as sockets, light switches, or electronic devices for the smart home. Based on the construction plan, the floor plan of the room acquired using the sensor arrangement 27, and the further specifications, the computing device 37 of the cable laying device 200 uses an artificial intelligence process to calculate an efficient laying plan for the cable 10, in which all specifications are taken into account.After the cable laying device 200 has created the laying plan, it begins its work and starts to produce the cable duct 18 with the milling unit 16 and then places the cable 10 to be laid in the cable duct 18 using the laying unit 17. During this process, the cable laying device 200 continuously records the position of the laid cable sections 10a and the respective marking 32 on the cable 10 using the position determination unit 20. The marking 32 and the positions of the cable sections 10a are stored in the storage device 23 and can be read out later to reliably identify and locate the laid cables 10 during renovation work.Furthermore, it may be provided that for each laid cable 10, additional information such as the length, the orientation of the laid cable sections 10a or the identification 32 of further cable sections 10a connected to the respective cable section 10a, or the IP addresses of modules 53 such as SmartHome devices, junction boxes, sockets, switches, sensors, etc., connected or to be connected to the laid cable sections 10a, are stored in the storage device 23.

[0104] In the Fig. 4 Another cable laying device 200 is shown. The cable laying device of the Fig. 4The cable laying device 200 additionally includes a dust extraction device 40 at the end of the telescopic arm 15, enclosing the milling unit 16 and the laying unit 17. This dust extraction device removes the construction dust generated by the milling unit 16 during the production of the cable ducts 18. Furthermore, the cable laying device 200 also features a filling unit 41 with a reservoir 42 for filler and a drying stage 43. After the laying unit 17 has placed the cable 10 into the cable duct 18 produced by the milling unit 16, the filling unit 41 closes the open cable duct 18 with filler, and the drying stage 43, which is subsequently guided over the filled cable duct, serves to dry the filler material.

[0105] In the Fig. 5 Another cable laying device 200 is shown. The one in the Fig. 5The cable laying device 200 shown is designed for surface mounting of a cable 10 and accordingly has means 44 for gluing or attaching the cables.

[0106] Referring again to Fig. 1The central data processing device 22 is permanently assigned to the room or building 11. The central data processing device 22 is configured as a server 21 for intelligent Smart Home devices 45. Based on the identification numbers 32 of the cable sections 10a stored in the storage device 23 along with their positions, as well as the IP addresses of Smart Home devices 45 connected to the installed cable sections 10a, the affected cables 10 can be located after the cables 10 have been installed if a Smart Home device 45 malfunctions. To display the position of the affected cable 10, the system 100 also includes a software application 46, which is executed on a portable data processing device 47 such as a smartphone 48.The software application 46 retrieves the data concerning the position and function of the installed cables 10 from the storage device 23 of the central data processing device 22 and furthermore uses the sensors 49 of the data processing device 47, such as position sensors and a camera, to display the installed cables 10 on a screen 50 in an augmented reality process. On the display or screen 50 of the portable data processing device 47, the installed cables 10, together with the associated information, are then displayed as if floating in front of the wall 19.

[0107] The central data processing device 22 can also be configured to switch an LED light source 51 on and off, which can couple light into the light guide 36 of the cable 10. This allows cable ends to be assigned to each other. List of reference symbols

[0108] 100 Cable laying system 200 Cable laying device 10 Cable 10a Cable section 11 Building 12 Cable installation robot 13 Base 14 Base plate 15 Telescopic arm 16 Milling unit 17 Laying unit 18 Cable duct 19 Wall 20 Positioning unit 21 Server 22 Central data processing device 23 Storage device 24 Wheel 25 Vertical axis 26 Cable drum 27 Sensor assembly 28 LiDAR scanner 29 GPS receiver 30 Position sensor 31 Position sensor 32 Marking 33 Machine-readable code 34 Distance 35 Marking device 36 Optical fiber 36a Transparent material 37 Rake device 38 Conduit 39 Sensor 40 Dust extraction device 41 Spatula unit 42 Reservoir 43 Drying stage 44 Medium 45 Smart home setup 46 Software application 47 Portable data processing device 48 Smartphone 49 Sensor 50 Screen 51 LED light source 52 Window frame 53 Module

Claims

1. Cable laying system (100) for the automated laying of cables (10) in a building (11), comprising a cable laying device (200), in particular a cable installation robot (12), with a movable base (13) and a laying unit (17) arranged on the base (13) and designed for laying a cable (10), wherein the cable laying device (200) comprises a position-determining unit (20) for determining the position of laid cable sections (10a), wherein the cable laying system is designed to store the position of laid cable sections (10a) in a storage device (23), characterized in that the cable laying device (200) has a telescopic arm (15) and / or folding arm, wherein the laying unit (17) is fastened to the telescopic arm (15) and / or folding arm, that the position-determining unit (20) comprises attitude sensors (30) for determining an orientation and a horizontal position of the cable laying device (200), and position sensors (31) for determining the posture or position of the laying unit (17) fastened to the telescopic arm (15) or folding arm, that the cable laying device (200) comprises a sensor arrangement (27), wherein the sensor arrangement (27) is designed to create a floor plan and / or a 3D model of a room of the building (11), and that the cable laying system comprises a computing device (37), wherein the computing device (37) is designed to create a laying plan using a created floor plan or 3D model, wherein the laying plan comprises the position or location of the cables (10) or cable sections (10a) to be laid and of electrical devices or modules (53).

2. Cable laying system (100) according to claim 1, characterized in that the cable laying system is designed to generate an installation plan of the laid cable sections (10a).

3. Cable laying system (100) according to claim 1 or 2, characterized in that a cable (10) to be laid is provided, wherein the cable (10) to be laid has, at regular intervals (34), a marking (32), preferably a machine-readable code (33), and / or that the cable laying device (200) has a marking device (35), wherein the marking device (35) is designed, preferably during the laying of the cable (10), to provide the cable (10), at regular intervals (34), with a marking (32), preferably with a machine-readable code (33), wherein most preferably each cable section (10a) has a marking (32), and / or wherein the marking device (35) is designed to provide each cable section (10a) with a marking (32).

4. Cable laying system (100) according to claim 3, characterized in that the marking (32) is an infinite and / or continuous marking (32), wherein the marking (32) changes at intervals (34) along the cable (10) of less than 5 cm, preferably of less than 3 cm, particularly preferably of less than 1 cm, so that each cable section (10a) with a length of less than 5 cm, preferably of less than 3 cm, particularly preferably of less than 1 cm, is individually marked.

5. Cable laying system (100) according to claim 3 or 4, characterized in that the cable laying system is designed to store the position of laid cable sections (10a) together with the marking (32) arranged on the cable section (10a) in the storage device (23).

6. Cable laying system (100) according to one of the preceding claims, characterized in that the cable laying system (100) is designed to store the position of laid cable sections (10a) together with further information, in particular with the length and / or the location and / or the orientation of the laid cable sections (10a), and / or with the markings (32) of further cable sections (10a) connected to the respective cable section (10a), and / or with the IP addresses of modules (53) connected or to be connected to the laid cable sections (10a), and / or a date, in the storage device (23).

7. Cable laying system (100) according to one of the preceding claims, characterized in that the cable laying device (200) comprises a milling unit (16), wherein the milling unit (16) is designed to produce a cable channel (18) in a wall (19) or in masonry of the building (11), wherein the laying unit (17) is designed to lay a cable section (10a) to be laid in a cable channel (18) produced by the milling unit (16), wherein preferably the milling unit (16) comprises a core drill and / or a long-hole drill and / or a cutting disc.

8. Cable laying system (100) according to one of the preceding claims, characterized in that the milling unit (16) is fastened to the telescopic arm (15), and / or that the cable laying device (200) has a dust extraction device (40), and / or that the cable laying device (200) comprises a filler unit (41) and / or a drying stage (43) for drying a filler material.

9. Cable laying system (100) according to one of the preceding claims, characterized in that the sensor arrangement (27) comprises a laser scanner and / or a LIDAR scanner (28), and / or a beacon transmitter and / or a beacon receiver and / or a GPS receiver (29) and / or a compass.

10. Cable laying system (100) according to one of the preceding claims, characterized in that the position-determining unit (20) comprises the sensor arrangement (27), and / or that the cable laying device (200) has a sensor (39) for determining a material property of walls (19) or of masonry of the building (11).

11. Cable laying system (100) according to one of the preceding claims, characterized in that the electrical devices or modules (53) comprise connection boxes and / or sockets and / or switches and / or sensors.

12. Cable laying system (100) according to one of the preceding claims, characterized in that the cable laying device (200) has means (44) for a surface-mounted laying of cables (10) or cable sections (10a) to be laid, and / or that the movable base (13) of the cable laying device (200) has wheels (24), wherein the wheels (24) are pivotable about a vertical axis (25), preferably by 180°, more preferably by 360°.

13. Cable laying system (100) according to one of the preceding claims, characterized in that a central data processing device (22), in particular a server (21), is provided, wherein the central data processing device (22) is preferably designed to apply a high-frequency AC voltage to the shielding and / or a conductor of a laid cable (10), and / or that the central data processing device (22) is designed to couple light into a transparent material (36a) of an insulation of the cable (10).

14. Cable laying system (100) according to one of the preceding claims, characterized in that a software application (46) for a portable data processing device (47) is provided, wherein by means of the software application (46) executed on the portable data processing device (47) the positions of laid cable sections (10a) can be shown, preferably by means of an augmented reality method.