Method and system for calibrating at least one discharge head having an outlet orifice of a building material system
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- INSTATIQ GMBH
- Filing Date
- 2024-08-06
- Publication Date
- 2026-07-01
Smart Images
Figure EP2024072248_27022025_PF_FP_ABST
Abstract
Description
[0001] Method and system for measuring at least one discharge head having an outlet opening of a building material system
[0002] FIELD OF APPLICATION AND STATE OF THE ART
[0003] The invention relates to a method and a system for calibrating at least one discharge head having an outlet opening of a building material system.
[0004] TASK AND SOLUTION
[0005] The object of the invention is to provide a method and a system for calibrating at least one discharge head having an outlet opening of a building material system, each of which has improved properties.
[0006] 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.
[0007] The method according to the invention is for calibrating at least one discharge head having an outlet opening of a building material system by means of one, in particular exactly one, tachymeter system. The building material system has the discharge head having the outlet opening for discharging building material from the building material system and a movement device for moving the discharge head. The movement device has at least, in particular exactly, a first movement device part for moving a second movement device part and the second movement device part having at least one, in particular exactly one, rotating mechanism at least, in particular exactly, for rotating the discharge head having the outlet opening. The tachymeter system has one, in particular exactly one, reflector and one, in particular exactly one, tachymeter for interacting with one another.The reflector 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, in particular permanently or continuously and / or fastened. The tachymeter is arranged independently of the movement of the discharge head, in particular permanently. The method comprises the steps of: 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, in particular completely 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 accompanying rotation of the further reflector by interaction with the tachymeter, in particular during at least the rotating movement and / or while the position of the reflector remains unchanged. Calibrating the discharge head by linking the determined position of the reflector and a trajectory of at least the tracked accompanying rotation of the further reflector, in particular in a 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.
[0008] This, in particular the arrangement of the reflector, allows good visibility of the reflector from the total station and / or no obstruction of the discharge of building material through the reflector.
[0009] Additionally or alternatively, this enables, in particular, the determining, the partially arranged, at least the rotating, the tracking, and the linking, the calibration of the discharge head using exactly one tachymeter system having exactly one reflector, in particular a temporally permanent one, and exactly one tachymeter, and / or that at least two tachymeter systems and / or at least two reflectors, in particular a temporally permanent one, and / or at least two tachymeters are not required to calibrate the discharge head. This thus enables the calibration of the discharge head to be simple and / or cost-effective.
[0010] Furthermore, in addition or alternatively, this enables, in particular, the calibration of the discharge head, a conversion from the reflector to the outlet opening, in particular a rotation and / or shifting. In other words: Calibrating the discharge head enables the determination of the position and / or alignment or orientation of the reflector relative to the outlet opening. This thus enables the compensation or adjustment of manufacturing, modification, and / or arrangement inaccuracies of the discharge head and / or the reflector. This thus enables the precise discharge of building material.
[0011] In particular, the process, the measuring, the omitting, the moving, at least the rotating, the interacting, the determining, the tracking, and / or the linking can be automated and / or computer-implemented. The term "comprises" or "has" can be used synonymously with the term "comprising."
[0012] The building material system can be mobile, in particular mobile, in particular a car building material system.
[0013] The outlet opening can be for discharging building material from the building material system in a non-vertical, in particular horizontal, outlet direction.
[0014] The building material can be a thick material, in particular concrete, bentonite, cement, mortar, screed and / or plaster.
[0015] The term “positioning” can be used synonymously with the term “moving”.
[0016] A rotation axis of the rotating mechanism may be non-horizontal, in particular vertical.
[0017] The discharge head can have a deflection device or a deflection element. The deflection device can be arranged upstream of the outlet opening and can be designed to deflect a flow of building material, in particular from the non-horizontal, in particular vertical, direction, in particular from top to bottom, toward the outlet opening, in particular in the outlet direction, in particular from back to front.
[0018] The term “configured” can be used synonymously with the term “trained”.
[0019] The second movement device part can be arranged after, in particular spatially after, the first movement device part.
[0020] The second movement device part can be arranged below the first movement device part.
[0021] Furthermore, or alternatively, the discharge head, in particular the outlet opening, can be arranged below the second movement device part.
[0022] This can allow the discharge of building material from a low height.
[0023] The reflector and / or the additional reflector can be a triple mirror and / or a retroreflective triple prism. Additionally or alternatively, the reflector and / or the additional reflector can be a target, in particular a target point, of the tachymeter. The tachymeter can be electrical and / or optical, in particular a laser tachymeter, in particular a laser tracker.
[0024] The term "cooperation" can be used synonymously with the term "interaction." Additionally or alternatively, the interaction can include targeting the reflector or the further reflector from the tachymeter and / or emitting a beam, in particular a light beam, from the tachymeter to the, in particular, targeted reflector or the, in particular, targeted further reflector, reflecting the emitted beam from the reflector or the further reflector or at the target point to the tachymeter, and receiving the emitted and reflected beam from the tachymeter.
[0025] The term “temporary” can be used synonymously with the term “part-time”.
[0026] The phrase “to participate or to take part in” can be used synonymously with the phrase “to take part”.
[0027] The tachymeter does not need to be arranged to participate in at least the rotation.
[0028] At least the rotation 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.
[0029] Tracking may be temporal with and / or after at least the rotation and / or continuous.
[0030] The trajectory(s) may be a segment of a circle. Additionally or alternatively, the trajectory(s) may be the, in particular temporal, course of the spatial curve, in particular in three-dimensional space, along which the further reflector rotates. Further additionally or alternatively, the trajectory(s) may represent a movement path of the further reflector through the temporal sequence of coordinates during the runtime. Further additionally or alternatively, the trajectory(s) may 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.
[0031] The coordinate system(s) can be described or defined by three different, particularly orthogonal, axes. The coordinate system of the rotating mechanism can be a coordinate system of the building material system.
[0032] The position can have values.
[0033] The arrangement, in particular the arrangement position or the arrangement location, in particular in the coordinate system of the rotating gear, of the reflector can be known or predetermined, in particular predetermined at the factory.
[0034] 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.
[0035] The outlet opening, particularly its center and / or bottom, can be a Tool Center Point (TCP).
[0036] Calibration may include determining, in particular calculating, a displacement or translation 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. Additionally or alternatively, the term "referencing" may be used synonymously with the term "calibration." Furthermore, additionally or alternatively, calibration may be performed using a calibration device.
[0037] The measurement, in particular the linking, can be performed simultaneously with and / or after the determination, at least the rotation and tracking. Additionally or alternatively, the additional reflector can be removed after at least the rotation and tracking, in particular allowing for unhindered discharge of building material.
[0038] For further information, please refer to the relevant literature, particularly for a clear assignment of the reflector and the additional reflector.
[0039] In a further development of the invention, the discharge head is a printing 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. This enables the strand to be formed with precise positioning. 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 automated and / or computer-implemented.Furthermore, additionally or alternatively, a strand cross-section, in particular a shape and / or a size of the strand cross-section of the, in particular, 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 outlet opening. Further, additionally or alternatively, the opening cross-section of the outlet opening and / or the strand cross-section of the strand can be non-parallel, in particular orthogonal, to the outlet direction. Further, additionally or alternatively, the, in particular discharged and / or formed strand can be continuous or extend over a certain length, in particular. Further, additionally or alternatively, the strand can be laid down or applied, in particular layer by layer, on an already formed strand and / or a further strand can be laid down or applied, in particular layer by layer, on the strand(s).applied, in particular such that the strand, in particular the one deposited, retains its strand cross-section, in particular that of the discharged strand. Furthermore, or alternatively, the structural component can be three-dimensional and / or a building component and / or a wall and / or a ceiling. Furthermore, or alternatively, the strand, in particular a width of the strand, can have a thickness, in particular the entire thickness of the wall and / or ceiling. Furthermore, or alternatively, 3D printing can be referred to as additive manufacturing.
[0040] In a further development of the invention, the first movement device part 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, and / or a parallel robot, in particular a delta robot. In particular, the parallel robot is arranged, in particular permanently and / or fixed, at an end of the serial robot, in particular opposite the serial rotating gear, in particular a mast tip of the distribution boom. Additionally or alternatively, the reflector is arranged at an end of the parallel robot, in particular opposite the serial robot. 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 construction of the building material system and / or a construction 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 particularly fast movement or positioning of the discharge head. In particular, the parallel robot enables a particularly fast compensation or balancing of a movement or positioning inaccuracy of the serial robot. In particular, the term “manipulator” can be used synonymously with the term “robot”. Additionally 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 distribution boom.
[0041] In a further development of the invention, the tachymeter is arranged immobile, in particular in a construction environment of the building material system.
[0042] In a further development of the invention, the interaction is achieved by means of precisely one, in particular bidirectional, beam connection, in particular between the tachymeter and the reflector or the additional reflector. This enables the calibration of the discharge head to be particularly simple and / or particularly cost-effective.
[0043] In a further development of the invention, the building material system comprises at least one controllable drive device for driving at least the rotating mechanism, at least for rotating the discharge head, and / or at least one sensor for detecting at least the rotation. The trajectory of at least the rotation of the discharge head is based, in particular calculated, on controlling the drive device and / or detecting it by means of the sensor, and in particular on the kinematics of at least the rotating mechanism. Additionally or alternatively, the tachymeter comprises at least one controllable drive device for tracking at least the accompanying rotation of the further reflector and / or at least one sensor for detecting the tracking.The trajectory of at least the tracked rotation of the further reflector is based, in particular is calculated, on controlling the drive device and / or detecting by means of the sensor, and in particular a kinematics of the tachymeter. In particular, the term component “control” can be used synonymously with the term component “control”. Additionally or alternatively, the term “ctor” 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 detecting can be automatic and / or computer-implemented. Further additionally or alternatively, the term “detecting” can be used synonymously with the term “detecting”. Further additionally or alternatively, the sensor can be electric.Furthermore, or alternatively, the kinematics can be known or predetermined, in particular predetermined at the factory, and / or can be forward kinematics. Furthermore, or alternatively, the term “kinematic relationship” can be used synonymously with the term “kinematics”. Furthermore, or alternatively, the determined position of the reflector can be based on the control of the drive device and / or the detection by means of the sensor, and in particular the kinematics of the tachymeter. In a further development of the invention, the trajectory of at least the tracked, participated rotation of the further reflector is based on recording the tracking. Additionally or alternatively, the trajectory of at least the rotation of the discharge head is based on recording at least the rotation. 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 "save" can be used synonymously with the term "record." Furthermore, the specific position of the reflector can be based on the recording.
[0044] In a further development of the invention, the method comprises calibrating the first movement device part by means of the, in particular exactly one, tachymeter system by means of the following steps, in particular prior to calibrating the discharge head: a) moving the second movement device part, and in particular thus moving the reflector, by means of the first movement device part and tracking the accompanying movement of the reflector by interaction with the tachymeter, in particular during the movement, b) calibrating the first movement device part by linking a trajectory of the movement of the second movement device part, in particular the movement of the reflector, in a coordinate system of the first movement device part and a trajectory of the tracked, accompanying movement of the reflector in a coordinate system of the tachymeter system. This enables transformation, in particular calculation ora conversion of coordinates between the coordinate system of the first movement device part and the coordinate system of the tachymeter system, in particular a turning or rotating and / or shifting. In other words: the calibration of the first movement device part makes it possible to determine a position and / or an alignment or orientation of the first movement device part or the coordinate system of the first movement device part with respect to the tachymeter system or the coordinate system of the tachymeter system. In particular, the calibration, movement, tracking, interaction, and / or linking can be automatic and / or computer-implemented. Additionally or alternatively, the reflector can be arranged to participate, in particular fully participate, in the movement of the second movement device part.Furthermore, or alternatively, the tachymeter can be arranged independently of the movement of the second movement device part. Furthermore, or alternatively, the tachymeter does not need to be arranged to participate in the movement of the second movement device part. Furthermore, or alternatively, 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 low-vibration controlled. Furthermore, or alternatively, the tracking can be temporal with and / or after the movement and / or continuous. Furthermore, or alternatively, the trajectory(s) can be the, in particular temporal, course of the spatial curve, in particular in three-dimensional space, along which the reflector moves.Furthermore, or alternatively, the trajectory(s) can represent a movement path of the reflector through the temporal sequence of coordinates during runtime. Furthermore, 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. Furthermore, or alternatively, the coordinate system of the first movement device part can be a coordinate system of the building material system. Furthermore, or alternatively, the arrangement, in particular the arrangement position or the arrangement location, in particular in the coordinate system of the first movement device part, of the reflector can be known or predetermined, in particular predetermined at the factory. Further, or alternatively, the linking can be a linking of origins and / or directions of the trajectories.Furthermore, or alternatively, the calibration can comprise 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 first movement device part and the coordinate system of the tachymeter system based on the linked trajectories or superimposing the trajectories, in particular by means of the Kabsch algorithm. Further, or alternatively, the calibration can be carried out by means of a calibration device. Further, or alternatively, step b) can be carried out chronologically with and / or after step a). In particular, step a) and step b) can be carried out repeatedly, in particular repeated multiple times.The measurement can be refined gradually over time.
[0045] In one embodiment of the invention, the first movement device part has a fine movement device for moving the second movement device part with a short range and a high positioning accuracy, and in particular a high speed and / or a high acceleration, and a coarse movement device for moving the fine movement device with a long range and a low positioning accuracy, and in particular a low speed and / or a low acceleration. Step a) comprises: moving the second movement device part to an extent greater than the short range, in particular equal to the long range. This enables particularly precise calibration of the first movement device part. Thus, this enables particularly precise dispensing of building material. Additionally or alternatively, this, in particular the long range, enables a large building section.In particular, this enables calibration in an area, in particular over the entire area, in which the structural part will subsequently be printed. 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, or alternatively, the term "scope" can be used synonymously with the term "extent." Furthermore, or alternatively, the coarse motion device can comprise the serial robot, and in particular the serial rotary gear. Furthermore, or alternatively, the fine motion device can comprise the parallel robot.
[0046] In a further development, in particular an embodiment, 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 following steps, in particular prior to steps a) and b): Partially arranging one, in particular exactly one, further reflector for interacting with the tachymeter 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 reflector 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 rotating gear and / or the first movement device part, in particular the building material system, and the coordinate system of the construction environment. In particular, the calibration 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.Furthermore, or alternatively, the surveying may involve determining a coordinate transformation for transforming coordinates between the coordinate system of the tachymeter system or the coordinate system of the rotating gear and / or the first movement device part, in particular the building material system, and the coordinate system of the construction environment. Furthermore, reference is made to the specialist literature, in particular for a clear assignment of the survey points.
[0047] In one embodiment of the invention, the calibration of the tachymeter system comprises 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 of a sphere with a center equal to the survey point can be used. 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, 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 11 and the preceding claim 10 can be an independent invention independent of the features of the far preceding claim 1.
[0048] The method according to the invention is for operating the building material system. The method comprises: the method for calibrating at least the discharge head having the outlet opening of the building material system. Moving, in particular at least rotating, the calibrated discharge head by means of the movement device, in particular at least the rotating mechanism, and discharging building material by means of the discharge head 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 discharging 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 calibrating and the operation can be carried out repeatedly, in particular repeatedly several times.The calibration can be refined gradually over time as the system is operated or during operation.
[0049] The system according to the invention is for calibrating at least the discharge head having the outlet opening of 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 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.
[0050] BRIEF DESCRIPTION OF THE DRAWINGS
[0051] 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:
[0052] Fig. 1 schematically shows a system according to the invention comprising a
[0053] Building material system and a tachymeter system and a method according to the invention for measuring at least one discharge head having an outlet opening of the building material system by means of the tachymeter system,
[0054] 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 head and a building material pump of the
[0055] Building material system during operation,
[0056] Fig. 4 shows schematically a building component 3D-printed using the building material system from formed strands of building material,
[0057] Fig. 5 schematically shows the discharge head and a movement device of the
[0058] building material system,
[0059] Fig. 6 schematically shows a trajectory of moving a second
[0060] Movement device part of the movement device and a trajectory of a tracked movement of a reflector of the tachymeter system,
[0061] Fig. 7 and 8 schematically further show the trajectory of the movement of the second movement device part and the trajectory of the tracked movement of the reflector,
[0062] Fig. 9 schematically shows a calibration of the tachymeter system of the method by means of a further reflector while moving on a spherical surface around a survey point, and
[0063] Fig. 10 schematically shows the calibration of the discharge head by means of a position of the
[0064] reflector and a trajectory of a tracked rotating movement of another reflector.
[0065] DETAILED DESCRIPTION OF THE EMBODIMENTS
[0066] 1 to 10 show a method according to the invention and a system 100 according to the invention for calibrating at least one discharge head 25 having an outlet opening 025 of 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.
[0067] The system 100 is designed 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. The building material system 1 has the discharge head 25 having the outlet opening 025 for discharging building material BS from the building material system 1 and a movement device 4 for moving the discharge head 25, 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 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 025. The tachymeter system 2 has one, in particular exactly one, reflector 7 and one, in particular exactly one, tachymeter 8 for interacting with one another.The reflector 7 is arranged at one end E26 of the first movement device part 26 in front of the second movement device part 27. The tachymeter 8 is arranged independently of the movement of the discharge head 25. The method comprises the steps of: determining a position P07 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 025, in particular a center MO25 of the outlet opening 025, 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 P07 of the reflector 7 and a trajectory T29 of at least the tracked rotation of the further reflector 29, in particular in a 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 each other, as shown in Fig. 10, in particular by means of a calibration device 101 of the system 100.
[0068] In other words:
[0069] The building material system 1 comprises a discharge device 3 for discharging building material BS from the building material system 1 and the movement device 4 for moving the discharge device 3. The discharge device 3 comprises the discharge head 25 having the outlet opening 025 for discharging building material BS from the building material system 1. In particular, the discharge device 3 is the discharge head 25.
[0070] The tachymeter system 2 comprises a first tachymeter part 5 and a second tachymeter part 6. The first tachymeter part 5 is the reflector 7, and the second tachymeter part 6 is the tachymeter 8. In detail, the discharge head 25 is a printing 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, as shown in Figs. 3 and 4.
[0071] Furthermore, the first movement device part 26 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 a parallel robot 22, in particular a delta robot 23, as shown in Figs. 2 and 5. In particular, the parallel robot 22 is arranged at an end E19 of the serial robot 19, in particular a boom tip S20 of the distribution boom 20, in particular opposite the serial rotating mechanism 21. Additionally or alternatively, the reflector 7 is arranged at an end E22 of the parallel robot 22, in particular opposite the serial robot 19.
[0072] In other words:
[0073] The rotating gear 28 is a parallel rotating gear 24 following the parallel robot 22.
[0074] The reflector 7 is arranged at one end E4 of the movement device 4.
[0075] In addition, the tachymeter 8 is arranged immobile, in particular in a construction environment BU of the building material system 1.
[0076] Furthermore, the interaction by means of exactly one, in particular bidirectional, beam connection is SV.
[0077] In addition, the building material system 1 comprises at least one controllable drive device 12 for driving at least the rotating mechanism 28 to rotate the discharge head 25 and / or at least one sensor 13 for detecting at least the rotation. The trajectory T29' of at least the rotation of the discharge head 25 is based on controlling the drive device 12 and / or detecting it by means of the sensor 13, and in particular on a kinematics KI28 of at least the rotating mechanism 28, in particular on a kinematics KI4 of the movement device 4.
[0078] Additionally or alternatively, the tachymeter 8 has at least one controllable drive device 14 for tracking at least the accompanying rotation of the further reflector 29 and / or at least one sensor 15 for detecting the tracking. The trajectory T29 of at least the tracked accompanying rotation of the further reflector 29 is based on controlling the drive device 14 and / or detecting it by means of the sensor 15, and in particular a kinematics KI8 of the tachymeter 8.
[0079] Furthermore, the trajectory T29 of at least the tracked rotation of the further reflector 29 is based on recording the tracking, in particular by means of a storage device 102 of the system 100.
[0080] Additionally or alternatively, the trajectory T29' of at least the rotation of the discharge head 25 is based on recording at least the rotation, in particular by means of the storage device 102.
[0081] In addition, the method comprises calibrating 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 calibrating 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 interacting 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 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 T7 of the tracked accompanying movement of the reflector 7 in the coordinate system KS2 of the tachymeter system 2,in particular a trajectory T5 of the tracked movement of the first tachymeter part 5, with each other, as shown in Figs. 6 to 8, in particular by means of the calibration device 101.
[0082] In detail, a cranking K20 of the distribution boom 20 is taken into account.
[0083] Furthermore, the first moving device part 26 has a fine moving device 17 for moving the second moving device part 27 with a low range R17 and a high positioning accuracy P17, and in particular a high speed v17 and / or a high acceleration a17, and a coarse moving device 18 for moving the fine moving device 17 with a high 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) comprises: moving the second moving device part 27 by an amount AU higher than the low range R17, in particular equal to the high range R18, as shown in Fig. 7.
[0084] In addition, 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 following steps, in particular prior to steps a) and b): Partially arranging one, in particular exactly one, further reflector 10 for interacting with the tachymeter 8 at survey points VP in the construction environment BU, as shown in Fig. 9. Calibrating the tachymeter system 2 by means of interaction with the further reflector 10 at the survey points VP, in particular by means of the calibration device 101.
[0085] In other words:
[0086] Another tachymeter part 9 is the additional reflector 10.
[0087] In detail, 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 the storage device 102.
[0088] 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.
[0089] The method according to the invention for operating the building material system 1 comprises: The method for calibrating at least the discharge head 25 having the outlet opening 025 of the building material system 1. Moving, in particular at least rotating, the calibrated discharge head 25 by means of the movement device 4, in particular at least the rotating mechanism 28, and discharging building material BS by means of the discharge head 25 during the movement, and in particular regulating 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. In particular, the movement of the coarse movement device 18 and / or the serial robot 19 for positioning the discharge head 25 is regulated such that the fine movement device 17 and / or the parallel robot 22 reaches a center position and / or a center alignment.
[0090] Additionally or alternatively, the movement and / or omission are / is carried out, in particular controlled, depending on data DBWT of the building part BWT, in particular a construction or design plan and / or in the storage device 102.
[0091] 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 head 25, as shown in Fig. 2.
[0092] Additionally or alternatively, the tachymeter system 2, the discharge head 25, the movement device 4, the drive device 12, the sensor 13, the drive device 14, the sensor 15, the building material pump, the calibration 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.
[0093] In other words:
[0094] 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.
[0095] 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.
[0096] This allows the print head to be tracked.
[0097] As the embodiments shown and explained above make clear, the invention provides an advantageous method and an advantageous system for calibrating at least one discharge head having an outlet opening of a building material system, which has improved properties. -
Claims
Patent claims 1. Method for calibrating at least one discharge head (25) having an outlet opening (025) of a building material system (1) by means of one, in particular exactly one, tachymeter system (2), wherein the building material system (1) has the discharge head (25) having the outlet opening (025) for discharging building material (BS) from the building material system (1) and a movement device (4) for moving the discharge head (25), wherein 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) at least, in particular exactly, for rotating the discharge head (25) having the outlet opening (025), and wherein the tachymeter system (2) has one, in particular exactly one, reflector (7) and one, in particular exactly one, tachymeter (8) for interacting with one another has,wherein the reflector (7) is arranged at one end (E26) of the first movement device part (26) in front of the second movement device part (27), and wherein the tachymeter (8) is arranged independently of the movement of the discharge head (25), and wherein the method comprises the steps of: Determining a position (P07) 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 (025), in particular a center (MO25) of the outlet opening (025), 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 participating rotation of the further reflector (29) by means of interaction with the tachymeter (8), in particular during at least the rotation, and Calibration of the discharge head (25) by linking the determined position (P07) of the reflector (7) and a trajectory (T29) of at least the tracked rotation of the further reflector (29), in particular in a 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).
2. Method according to the preceding claim, wherein the discharge head (25) is a printing 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).
3. Method according to one of the preceding claims, wherein the first movement device part (26) 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), and / or a parallel robot (22), in particular a delta robot (23), in particular wherein the parallel robot (22) is arranged at an end (E19) of the serial robot (19), in particular a boom tip (S20) of the distribution boom (20), in particular opposite the serial rotating mechanism (21), and / or wherein the reflector (7) is arranged at an end (E22) of the parallel robot (22), in particular opposite the serial robot (19).
4. Method according to one of the preceding claims, wherein the tachymeter (8) is arranged immobile, in particular in a construction environment (BU) of the building material system (1).
5. Method according to one of the preceding claims, wherein the interaction is by means of exactly one, in particular bidirectional, beam connection (SV).
6. Method according to one of the preceding claims, wherein the building material system (1) has at least one controllable drive device (12) for driving at least the rotating mechanism (28) at least to rotate the discharge head (25) and / or at least one sensor (13) for detecting at least the rotation, wherein the trajectory (T29') of at least the rotation of the discharge head (25) is based on controlling the drive device (12) and / or detecting by means of the sensor (13), and in particular a kinematics (KI28) of at least the rotating mechanism (28), and / or wherein the tachymeter (8) has at least one controllable drive device (14) for tracking at least the accompanying rotation of the further reflector (29) and / or at least one sensor (15) for detecting the tracking, wherein the trajectory (T29) of at least the tracked accompanying rotation of the further reflector (29) is based on a Checking the drive device (14) and / or the Detection by means of the sensor (15), and in particular a kinematics (KI8) of the tachymeter (8).
7. Method according to one of the preceding claims, wherein the trajectory (T29) of at least the tracked rotation of the further reflector (29) is based on recording the tracking, and / or wherein the trajectory (T29') of at least the rotation of the discharge head (25) is based on recording at least the rotation.
8. Method according to one of the preceding claims, wherein the method comprises calibrating 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 calibrating 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, and 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) and a trajectory (T7) of the tracked accompanying movement of the reflector (7) in a coordinate system (KS2) of the tachymeter system (2).
9. Method according to the preceding claim, wherein the first movement device part (26) has a fine movement device (17) for moving the second movement device part (27) 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 second movement device part (27) to an extent (AU) higher than the low range (R17), in particular equal to the high range (R18).
10. Method according to one of the preceding claims, in particular one of the two preceding claims, 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 before steps a) and b): partially arranging one, in particular exactly one, further reflector (10) for interacting with the tachymeter (8) at surveying points (VP) in the construction environment (BU), and calibrating the tachymeter system (2) by means of interaction with the further reflector (10) at the surveying points (VP).
11. Method according to the preceding claim, 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).
12. A method for operating a building material system (1), the method comprising: a method for calibrating at least one discharge head (25) having an outlet opening (025) of a building material system (1) according to one of the preceding claims, and Moving, in particular at least rotating, the calibrated discharge head (25) by means of the movement device (4), in particular at least the rotating mechanism (28), and discharging building material (BS) by means of the discharge head (25) during the movement, and in particular regulating the movement by means of the, in particular exactly one, tachymeter system (2).
13. System (100) for calibrating at least one discharge head (25) having an outlet opening (025) of 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).