Method for planning and producing a building or a building section, and computer program product

Abstract

The invention relates to a method (100) for generating a plan (36) for a building section (56) and / or a building using a planning system (40), wherein at least one machine property (38) of a mobile machine tool (10) is entered into the planning system (40) via a data interface (54) in order to input the at least one machine property (38) into the planning system (40). The invention additionally relates to a computer program product (52) and a planning system (40).

Description

[0001] Method for planning and manufacturing a building or part of a building and computer program product

[0002] Description

[0003] The invention is based on a method for generating a plan of a building part with the aid of a planning system.

[0004] Especially for the construction of complex buildings, such as office complexes, building sections are usually planned in advance. For example, the required building technology components and their subsequent layout within the building section or building are planned. Such planning can significantly influence the subsequent construction implementation, particularly the construction duration and costs, of the building section or building to be constructed.

[0005] It is therefore desirable and the object of the present invention to offer a method and at least one aid for generating a plan with the aid of a planning system, which enables later construction implementation with little expenditure of time and / or at low production costs.

[0006] The problem is solved by a method for generating a plan for a building section with the aid of a planning system, wherein at least one machine property of a mobile machine tool is entered into the planning system via a data interface for entering the at least one machine property into the planning system. This makes it possible to plan the building section taking the machine property into account. For example, this can make it possible for the mobile machine tool to be used at all and / or for the mobile machine tool to be used more frequently and / or with fewer interruptions. This can thus, for example, improve the degree of automation of the construction implementation. Subsequent and therefore generally particularly costly and time-consuming replanning, in particular because the planned building section simply cannot be manufactured with the available resources, in particular with the mobile machine tool, can be avoided.As a result, manufacturing costs and / or manufacturing times for the building component can be reduced.

[0007] The planning can include a CAD model, in particular a Building Information Model (hereinafter: “BIM”) model. A building component can be understood as a part of a building, in particular a high-rise building, or even the entire building. The building component can, for example, comprise a wall, a ceiling and / or a floor. It can be a building component to be constructed predominantly from concrete, wood and / or steel. It can be a building component to be erected on land and / or in, on and / or above a body of water. The method is particularly advantageous for tall buildings, for example skyscrapers or oil platforms, since efficiency benefits have a particularly extensive impact on such buildings.

[0008] The mobile machine tool can be and / or comprise a drilling machine, for example a hammer drilling machine, for example for drilling concrete, a chiseling machine, a sawing machine, a grinding machine, a setting machine, for example a nailer or a screw setting device, or the like.

[0009] In one class of embodiments, the mobile machine tool is designed as a construction robot. The construction robot can be configured to carry out construction work on a ceiling, a wall, and / or a floor. It can be designed for drilling, cutting, chiseling, grinding, and / or setting a building element. The construction robot can have a manipulator. The manipulator can be designed as a robot arm. It is also conceivable for the mobile machine tool to be a transport robot for transporting consumables, tools, or the like on a construction site. The manipulator can also have a lifting device. The lifting device can increase the work volume accessible to the manipulator. The manipulator can have at least three degrees of freedom. In particular, it can have at least six degrees of freedom. An end effector can be designed and / or arranged on the manipulator.The end effector can comprise a machine tool and / or a tool. For example, the end effector can have an electric machine tool. The electric machine tool can, for example, be and / or comprise one of the aforementioned machines or devices. It is also conceivable that the end effector and / or the machine tool are designed for marking. For example, the end effector can have a paint sprayer. The end effector and / or the machine tool can also have an image recording unit, for example a camera, a LIDAR and / or the like. The machine tool can then be configured to record images of the surroundings and to store them, evaluate them and / or forward them for evaluation. This can be useful, for example, for documentation purposes, for example to document construction progress.

[0010] The construction robot can also have a mobile platform. The mobile platform can comprise a wheeled chassis and / or a tracked chassis. The mobile platform can have at least two degrees of freedom. The construction robot can have at least ten degrees of freedom in total. Alternatively or additionally, it is conceivable for the mobile platform to include a flying platform. In other words, the construction robot can also be designed as an unmanned aerial vehicle.

[0011] Our own research has shown that the usefulness of such a mobile machine tool designed as a construction robot can depend on the extent to which the mobile machine tool can be used. The more widely the mobile machine tool can be used, the more cost-effective its use can be overall. This can be particularly important because such mobile machine tools generally have high manufacturing costs, for example, compared to simple, handheld power tools.

[0012] The data interface can include a user control element for inputting at least one data set by a user. It is also conceivable for the data interface to be configured to query an internet resource. It is also conceivable for the data interface to be configured to read a file data source, for example, a so-called CSV file, an XML file, or a file according to the "Industry Foundation Class" standard, for input.

[0013] The construction implementation process is often planned between the planning stage and the construction implementation. This construction implementation process defines the timescales in which the building section will be constructed. For each of these timescales, the associated resource utilization, particularly the use of available mobile machine tools, can be planned. Very often, it is only during this construction implementation process, or even during the actual construction, that it is discovered that the building section cannot be constructed as planned or only with additional effort using the mobile machine tool. In this case, the planning must be modified, which can result in considerable additional effort.It is therefore particularly advantageous if, before the start of the construction process planning, especially during the planning, the building section is planned depending on at least one machine property, so that the mobile machine tool can be used to implement the plan right from the start.

[0014] In particular, it is conceivable to select a structural element to be mounted on and / or in the building part depending on at least one machine property. For example, in the case of a mobile machine tool designed as a construction robot and equipped with a rock drilling machine, a maximum permissible weight of the rock drilling machine and thus, for example, a maximum possible diameter to be drilled can be limited. If, for example, a supporting element is to be provided on a ceiling as part of a building in order to be able to attach cables to the supporting element, the selection of supporting elements can be restricted to those supporting elements that can be fastened with anchors that correspond at most to the maximum possible diameter to be drilled. It is also conceivable to select a certain number of structural elements, in this case supporting elements, depending on the machine property, for example the maximum possible diameter.For example, in order to do justice to the machine characteristics, it is conceivable to provide several components, in the example several support elements, instead of a single component, which would not do justice to the machine characteristics.

[0015] The mobile machine tool designed as a construction robot can have an individually specific working area. The working area can depend, for example, on the length and / or the number of degrees of freedom of the manipulator. The mobile machine tool can be used when the work positions to be reached lie within its working area or when the mobile machine tool can be positioned such that it can capture the planned work positions with its working area. Therefore, it can be advantageous if a length, a width and / or a height and / or a distance relating to the building part is determined depending on the at least one machine property. A distance relating to the building part can be particularly relevant

[0016] In one class of procedures, it is conceivable that, before starting construction planning, a plan, especially an existing one, is checked to determine whether the plan is compatible with at least one machine characteristic. For example, it is conceivable that this check could be performed as part of quality and / or safety checks for acceptance of a plan from another party, for example, a separate planning system. If the check result is negative, the plan can then be returned to the other party for adjustment.

[0017] If at least one machine property of at least two different mobile machine tools is entered into the planning system, the planning can not only be optimized to optimize the use of a mobile machine tool, but it is also possible, for example, to make a selection between the at least two different mobile machine tools for the subsequent construction implementation and / or the construction process planning and thus to further optimize the construction process planning and / or the construction implementation.

[0018] The method can be particularly advantageous when planning a building services system. The building services system can include mechanical, electrical, or fluid systems. For example, the building services system can relate to cooling / heating technology, supply and disposal systems, electrical systems, water supply and disposal systems, supply and / or exhaust air, or similar systems.

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

[0020] The computer program product can be embodied as program code. The computer program product can also be stored on a data storage medium, for example, a portable data storage medium such as a memory stick. It is also conceivable for the computer program product to be stored on a computer system, for example, a cloud-based computer system. From there, it can be downloaded, for example, via the internet or another data connection.

[0021] The invention also encompasses a planning system comprising the computer program product described above. The planning system may comprise a computer. The computer may have a memory, a microprocessor, and input and output devices. The computer program product may be stored executably on the computer. Thus, the method described above can be carried out by executing the computer program product on the computer.

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

[0023] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen. The various features can be implemented individually or in combinations in variants of the invention.

[0024] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.

[0025] They show:

[0026] Fig. 1 a mobile machine tool designed as a construction robot,

[0027] Fig. 2 a planning system and

[0028] Fig. 3 is a flowchart of a method for generating a plan.

[0029] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0030] Fig. 1 shows a mobile machine tool 10 designed as a construction robot. The mobile machine tool 10 has a chassis 12 designed as a tracked chassis. A control chamber 16 is formed in a housing 14 of the mobile machine tool 10. In Fig. 1, the control chamber 16, which is located within the housing 14, is only indicated schematically.

[0031] The mobile machine tool 10 has a first manipulator 18 and a second manipulator 19 on the top side of the housing 14. The manipulators 18, 19 are designed as multi-axial, controllable arms. A first end effector 20 and a second end effector 21 are located at their free ends, respectively.

[0032] A screw setting device 22, in particular a screw setting device equipped with a screw magazine, is arranged on the first end effector 20. A holder 24 with a gripper 25 is arranged on the second end effector 21. The gripper 25 can have at least one controllable suction cup.

[0033] The second manipulator 19, together with its holder 24, is configured to hold a component in a predetermined position. For this purpose, the gripper 25 can selectively pick up, hold, or release the component.

[0034] The mobile machine tool 10 further comprises an image acquisition unit 26 for capturing optical images and an image processing unit 28 for processing the images. The image acquisition unit 26 comprises an RGB sensor and a time-of-flight sensor, so that the image acquisition unit 26 is capable of capturing color images including depth information. The image processing unit 28 is part of a controller 30. The controller 30 is arranged within the housing 14, in particular in the control chamber 16. It and, in particular, the image processing unit 28 are therefore also only shown schematically in Fig. 1.

[0035] The mobile machine tool 10 is designed for performing construction work, in particular for arranging building elements on building components. Floors, ceilings, and walls can be processed as building components. The construction work can involve a construction site, for example, a building construction site or a civil engineering site.

[0036] The mobile machine tool 10 is configured to position, hold, and attach a structural element to the building component. In particular, it can move the structural element into a desired position using its second manipulator 19, and in particular using the holder 24, and can fasten it to the building component using the first manipulator 18, in particular using the screw setting device 22, by screwing screw anchors into pre-drilled holes.

[0037] To carry out such construction work, the mobile machine tool 10 is controlled by the programmable controller 30. The controller 30 comprises a memory unit 32. The controller 30 is equipped with executable program code 34. For this purpose, the program code 34 is stored in the memory unit 32 in a retrievable and executable manner. It is generally conceivable that part of the controller 30 or the entire controller 30 is implemented on a remote computer system, for example, a cloud-based computer system. Furthermore, a plan 36 in the form of a CAD model, in particular a BIM model, is stored in the memory unit 32. The mobile machine tool 10 is configured to read the construction tasks to be performed by it from the plan 36 and, if possible, to execute them.

[0038] The mobile machine tool 10 has machine properties 38. These machine properties 38 are shown only schematically in Fig. 1. They can, for example, be compiled in the form of an XML file.

[0039] The machine properties 38 describe specific properties for the mobile machine tool 10, in particular boundary conditions, with which the mobile machine tool 10 can perform construction tasks. The machine properties 38 can, for example, relate to minimum distances, in particular minimum widths of gaps, in which the mobile machine tool 10 is to perform a construction task. These minimum distances can result, for example, from the dimensions of the end effectors 20, 21. The machine properties 38 can also relate to length specifications, in particular maximum and / or minimum, heights, widths and / or depths, areas or volume specifications, or the like. These can result, for example, from technical data of the manipulators 18, 19 and / or the entire mobile machine tool 10. The machine properties 38 can also include weight specifications, which relate, for example, to maximum permissible load-bearing capacities or the like.

[0040] Fig. 2 shows a planning system 40. The planning system 40 comprises a computer 42. In addition to an input device 44 and an output device 46, the computer 42 has a microprocessor 48 and memory 50. A computer program product 52 is stored in the memory 50. The computer program product 52 can be executed on the computer 42, in particular with the aid of the microprocessor 48. The computer program product 52 has a data interface 54 for entering the machine properties 38 into the planning system 40. For this purpose, the data interface 54 is configured to read and evaluate XML files corresponding to the machine properties and to make the contained data available to the rest of the computer 42 for further use. The plan 36 is also stored in the memory 50. The plan 36 can be created and / or modified on the planning system 40. In the state shown in Fig. 2, the output device 46 represents the plan 36.A height h can be seen as the distance from a ground to a first building part 56 in the form of steel beams of a ceiling or floor.

[0041] In order for the mobile machine tool 10 to subsequently carry out construction work on the first building section 56 from below, the height h must correspond at least to the minimum height of the mobile machine tool 10 and at most to the maximum height of the highest point reachable by the mobile machine tool 10. According to the present example, the minimum height and the maximum height form part of the machine properties 38.

[0042] It is conceivable that the planning system 40 is designed as a local and / or, at least partially, as a cloud-based computer system.

[0043] With the aid of the computer program product 52, a method 100 for generating the plan 36, shown schematically in Fig. 3, can be carried out on the planning system 40.

[0044] In an initialization phase 110 of the method 100, the machine properties 38 (see Fig. 1 and Fig. 2) of the mobile machine tool 10 are entered, in particular read, into the planning system 40 (see Fig. 2) via the data interface 54.

[0045] In a further initialization phase 120, component data for those types of components can be entered, for example read, into the planning system 40 with which the planning 36 (see Fig. 1, 2) or the building part 56 to be created (see Fig. 2) is ultimately to be created.

[0046] In a third initialization phase 130, it is conceivable to also enter key planning data into the planning system 40. The key planning data can include data relating to the building section 56 to be constructed or the entire building to be constructed, for example, the number of levels, number and types of rooms, equipment to be provided, etc. During a planning phase 140, the plan 36 is subsequently generated. For this purpose, in a construction phase 142, suitable structural elements are selected from the structural element data according to the key planning data, modified and / or placed and thus added to the plan 36 accordingly. For example, suitable steel beams are added to the plan 36 to form the building section 56.

[0047] In a review phase 144, a check is carried out to determine whether the then achieved planning status 36 is compatible with all machine properties 38 or whether conflicts exist. For example, a check is carried out to determine whether the building section 56, with the selected construction elements, achieves a compatible height, i.e., a height between the minimum height and the maximum height. If machine properties 38 of several mobile machine tools 10, for example of different types, are available, a selection can also be made in this review phase 144 as to which type of mobile machine tool 10 can be used to carry out which construction task and / or is best carried out. Particularly in the case of conflicts, a suggestion can also be made as to which adaptation can resolve the conflict and / or should preferably be resolved.

[0048] If conflicts arise, the plan 36 is adjusted in an adjustment phase 146. For this purpose, the selected components can be removed as needed and / or replaced with alternative, more suitable components. It is also conceivable to modify the selected components, for example, by shortening them. After the adjustments are completed, the review can be repeated according to review phase 144.

[0049] If a compatible plan is obtained, a final planning review 148 is then carried out to check whether the entire building section 56 or the entire building to be planned has been fully planned and / or whether the plan 36 already meets all the key planning data.

[0050] It is conceivable that one or more of the initialization phases 110, 120, 130 as well as the phases 142, 144, 146, 148 are executed completely and / or partially manually by a user of the planning system 40. It is also conceivable to execute one or more of these initialization phases and phases completely automatically, in particular with the aid of the planning system 40.

[0051] As a result, a complete plan 36 can be generated using method 100. In the present example, in which the mobile machine tool 10 is designed as a construction robot, a plan 36 can thus be created that is compatible with the mobile machine tool 10, so that at least certain construction tasks can be performed with the mobile machine tool 10.

[0052] It is conceivable to plan a construction process for erecting building section 56 or the building to be constructed in a subsequent construction planning phase 150 based on the planning 36. Finally, the building section 56 or the building can then be constructed in a construction implementation phase 160 according to the planning 36 and the construction process planning. Thus, together with the construction implementation phase 160, a method 100 for producing the building section 56 and / or a building results.

[0053] List of reference symbols

[0054] 10 Machine tool

[0055] 12 chassis

[0056] 14 housings

[0057] 16 Control room

[0058] 18 Manipulator

[0059] 19 Manipulator

[0060] 20 End effector

[0061] 21 End effector

[0062] 22 screw setting tool

[0063] 24 bracket

[0064] 25 grippers

[0065] 26 Image acquisition unit

[0066] 28 Image processing unit

[0067] 30 Control

[0068] 32 storage units

[0069] 34 Program code

[0070] 36 Planning

[0071] 38 Machine property

[0072] 40 Planning system

[0073] 42 computers

[0074] 44 Input device

[0075] 46 Dispensing device

[0076] 48 microprocessor

[0077] 50 storage

[0078] 52 Computer program product

[0079] 54 Data interface

[0080] 56 building section

[0081] 100 procedures

[0082] 110 Initialization phase

[0083] 120 Initialization phase

[0084] 130 Initialization phase

[0085] 140 Planning phase

[0086] 142 Design phase 144 Testing phase

[0087] 148 Final planning audit

[0088] 150 Construction planning phase h height

Claims

Patent claims 1 . Method (100) for generating a plan (36) of a building part (56) and / or of a building with the aid of a planning system (40), wherein at least one machine property (38) of a mobile machine tool (10) is entered into the planning system (40) via a data interface (54) for entering the at least one machine property (38) into the planning system (40).

2. Method (100) according to the preceding claim, characterized in that before starting a construction process planning, the building part (56) is planned as a function of the at least one machine property (38).

3. Method (100) according to the preceding claim, characterized in that a component to be used on and / or in the building part (56) is selected depending on the at least one machine property (38).

4. Method (100) according to the preceding claim, characterized in that a length, a width and / or a height (h) relating to the building part (56) and / or a distance relating to the building part (56) is determined as a function of the at least one machine property (38).

5. Method (100) according to one of the preceding claims, characterized in that before starting a construction process planning, it is checked whether the planning (36) is compatible with the at least one machine property (38).

6. Method (100) according to one of the preceding claims, characterized in that at least one machine property (38) from at least two different mobile machine tools (10) is entered into the planning system (40).

7. Method (100) according to one of the preceding claims, characterized in that a building services system is planned.

8. Computer program product (52) for generating a plan (36) according to a method (100) according to one of the preceding claims, characterized in that the computer program product (52) has a data interface (54) for inputting the at least one machine property (38) in a planning system (40).

9. Planning system (40) comprising a computer (42) and a computer program product (52) executable on the computer (42) according to the preceding claim.

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