Method and system for operating a building material system

Abstract

The present invention relates to a method (1) for operating a building material system (1), the building material system (1) having a discharge device (2), a distribution boom (3) and controllable drives (4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h), the discharge device (2) designed to discharge building material (BS) from the building material system (1), the distribution boom (3) having adjustable boom segments (3a, 3b, 3c, 3d) for positioning the discharge device (2), the drives (4a-e) designed to drive the boom segments (3a-d), the method comprising: a) distributing the building material (BS) from the distribution boom (3) and The method comprises the steps of: a) identifying a model (1M) of a building material system (1) by controlling the drives (4a-e) by means of input signals (IS) for exciting the movement of the dispensing boom (3) and by detecting output signals (OS) resulting from the excited movement; b) determining, in particular calculating, a controller (RE) based on the identified model (1M); and c) controlling the building material system (1) by means of the determined controller (RE), in particular to reach and / or maintain a target position of the dispensing boom (3).

Description

[Technical Field]

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

[0002] The present invention is based on the object of providing a respective method and system for operating a building material system, each having improved properties.

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

[0004] The method according to the present invention is for operating a building material system. The building material system has a discharge device, a distribution boom, and a controllable drive device. The discharge device is designed to discharge building material from the building material system. The distribution boom has adjustable or movable boom segments, particularly adjustable or movable relative to each other, for positioning the discharge device. The drive device is designed to drive the boom segments, particularly to adjust the boom segments. The method comprises the following steps: step a) identifying a model of the building material system, particularly at least one model of the distribution boom, by controlling the drive device with an input signal for exciting a movement of the distribution boom, particularly the boom segments, and by detecting an output signal resulting from the excited movement; step b) determining, particularly calculating, a controller, particularly a boom controller, depending on the identified model, particularly the at least one identified model; and step c) controlling the building material system by the determined controller, particularly the at least one determined controller, in particular to reach and / or maintain a target position of the distribution boom.

[0005] This, in particular step a), allows the model to be independent of modeling errors and / or to be close to the actual behavior of the building material system. Alternatively or additionally, this, in particular step b), allows for a good operation of the building material system, in particular for the control, in particular for the controller, to be adapted to the actual behavior of the building material system. In particular, the control for reaching and / or maintaining allows for stabilization and / or compensation for disturbances. This can therefore allow for accurate positioning of the boom tip of the dispensing boom and therefore of the discharge device.

[0006] In particular, the methods, operations, ejections, positioning, driving, identifying, controlling, detecting, determining, and / or controlling can be automatic or autonomous.

[0007] The building material system is mobile, in particular roadable, in particular an automotive building material system.

[0008] Controllable can be hydraulically and / or electrically controllable.

[0009] The term "actuator" may be used interchangeably with the term "drive."

[0010] The terms "comprise" or "have" may be used synonymously with the term "have."

[0011] The term "configured" may be used synonymously with the term "designed."

[0012] The building material may be a high viscosity material, in particular concrete, bentonite, cement, mortar, screed, and / or gypsum.

[0013] The dispensing boom may be designed to position the ejection device and / or be adjustable.

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

[0015] Step a) can be called identifying the system or identifying the system or system identification.

[0016] The identification can be empirical and / or by detecting the quantitative dependence of the output signal on the input signal.

[0017] The model can be mathematical and / or dynamic and / or can represent the building material system in the frequency domain, for example in a Bode diagram or a state space representation, and / or can have parameters, in particular values ​​of the parameters. In particular, the model can be a system of differential equations that describe the relationship between input and output signals.

[0018] The input signals and / or output signals may be system-determined and / or defined or specified and / or physical and / or may be various, in particular various, and / or may have values.

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

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

[0021] The term "measuring" can be used synonymously with the term "detecting."

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

[0023] The output signal may be generated by an action or may be dependent on an excited action or input signal.

[0024] The detection can be by at least one sensor device, in particular an electrical sensor device, in particular a plurality of sensor devices, of the building material system.

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

[0026] A controller may have a kind or type and / or a parameter, in particular a value of the parameter.

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

[0028] The target position may have a value and / or may be changeable.

[0029] The control may comprise a control of a dispensing boom, and may in particular be a control of a dispensing boom.

[0030] The term "posture" can be used synonymously with the term "position."

[0031] Step b) may be performed chronologically after step a). Additionally or alternatively, step c) may be performed chronologically after step b).

[0032] In one development of the invention, the input signal is for stimulating the frequency spectrum of the distribution boom, in particular the boom segment. This allows the model to be very close to the actual behavior of the building material system. In particular, this allows for stimulating the natural vibrations or resonances of the building material system, in particular the distribution boom. In particular, the building material system, in particular the distribution boom, can be vibrated.

[0033] In particular, the input signal may comprise white noise and / or chirps, in particular it may be white noise and / or chirps, see further the specialist literature.

[0034] In one development of the invention, the input signal comprises a step signal, in particular step signals of different durations and / or different amplitudes, in particular the input signal is a step signal, which surprisingly allows a relatively low load on the building material system, in particular compared to white noise and / or chirps.

[0035] In one development of the invention, step a) is performed, in particular several times or repeatedly, to identify different models of the building material system for different positions of the dispensing boom, in particular boom segments, and / or for different loadings of building material onto the dispensing boom. Step b) comprises: determining a controller, in particular a single controller, based on the identified model, in particular determining a controller, in particular only a single controller. This allows the determined controller, in particular the single determined controller, to be robust or stable and / or particularly robust, and to be able to switch or switch between determined controllers, in particular depending on robustness limits or limitations determined based on the position and / or loading. In particular, the position can be an arc position, a horizontal position, a vertical position, and / or a Z position, and / or at least two, in particular at least five, in particular at least ten positions. Additionally or alternatively, the loading can be at least two, in particular at least five, in particular at least ten loadings.

[0036] In one development of the invention, step a) is performed by a simpler controller than the controller determined in step b), in particular a P-controller (proportional controller). Additionally or alternatively, the model comprises a linear model. In particular, the model is a linear model. Additionally or alternatively, the controller determined in step b) comprises a linear controller, in particular an LQ-controller (linear quadratic controller), an LQG-controller (linear quadratic Gaussian controller), an LPV-controller (linear parameter variable or variant controller), and / or a robust controller, in particular an H-infinity controller, and / or a model predictive controller. In particular, the determined controller is a linear controller and / or a robust controller and / or a model predictive controller. This, in particular a simple controller, is capable of stabilizing the building material system, in particular the distribution boom. In particular, the simple controller can be called a stabilizing controller. Additionally or alternatively, this, in particular a linear model, allows for a sufficient approximation to the actual behavior of the building material system. In particular, the linear model can be a system of linear or ordinary differential equations. Additionally or alternatively, the building material system can be linear and / or time-invariant. Additionally or alternatively, the controller allows for easy determination and / or very good operation, in particular control, of the building material system, in particular for different positions of the dispensing boom and / or different loadings of building material onto the dispensing boom.For further details, see the specialized literature.

[0037] In one development of the invention, the building material system and / or the distribution boom have a rotation mechanism and / or a rotary joint for adjusting the boom segments. Additionally or alternatively, the output signal represents the rotation angle position, in particular the rotation angle position velocity, of the boom segments. In particular, the output signal is the rotation angle position, in particular the rotation angle position velocity. Additionally or alternatively, the controller has a rotation angle controller. In particular, the controller is a rotation angle controller. In particular, one of the rotary joints can be at the non-free end or the free end of the distribution boom or the boom leg and / or at the rotation mechanism. Additionally or alternatively, the rotation axis of the rotation mechanism can be vertical. Additionally or alternatively, the rotation axes of the rotary joints can be horizontal and / or parallel, in particular parallel to each other. Additionally or alternatively, the term "characteristic" can be used synonymously with the term "representative." Additionally or alternatively, the rotation angle controller can be called a rotation mechanism controller and / or a rotary joint controller.

[0038] In one development of the invention, the building material system comprises a parallel robot, in particular a delta robot. A distribution boom, in particular at a boom tip of the distribution boom, is designed for positioning, in particular coarsely, the parallel robot. The parallel robot is designed for positioning, in particular finely, the discharge device. A drive is designed for driving the parallel robot, in particular a robot arm device of the parallel robot. In particular, step a) comprises: identifying at least a model of the building material system, in particular a robot model of the parallel robot, by controlling the drive with input signals for exciting a movement of the parallel robot, in particular while the distribution boom is stationary, and by detecting output signals resulting from the excited movement. In particular, the output signals represent a position, in particular a translational position, and / or an orientation, in particular a rotational orientation, of the parallel robot and / or the discharge device relative to the building environment of the building material system. In particular, the output signals are positions and / or orientations. Step b) comprises: determining at least a controller, in particular a robot controller, depending at least on the identified model. Step c) comprises: Controlling the building material system, at least by the determined controller, in particular to reach and / or maintain a target position and / or target orientation of the parallel robot. The parallel robot allows for compensating for inaccuracies in the positioning of the distribution boom. This therefore allows for highly accurate positioning of the discharge device. In particular, the parallel robot can be a hexapod. Additionally or alternatively, the term "manipulator" can be used synonymously with the term "robot." Additionally or alternatively, the distribution boom can be referred to as a serial robot. Additionally or alternatively, the boom tip can be the free end of the distribution boom. Additionally or alternatively, the parallel robot can be rotatable relative to the distribution boom, in particular relative to the boom tip, in particular about a vertical rotation axis. Additionally or alternatively, the term "orientation" can be used synonymously with the term "pointing."Additionally or alternatively, the target position and / or target orientation can have a value and / or can be changeable. Additionally or alternatively, the boom model and the robot model can be different. Additionally or alternatively, the boom controller and the robot controller can be different. Additionally or alternatively, the control can include, and in particular can be, a control of a parallel robot. Additionally or alternatively, the stopping of the dispensing boom can be controlled or not.

[0039] In one embodiment of the present invention, the detection of one of the output signals generated by the excited movement of the parallel robot is performed by an optical measuring device, in particular a laser tracker. This allows for high accuracy, in particular in the 1 mm (millimeter) range. In particular, the measuring device can be electrical and / or for absolute positioning. Additionally or alternatively, the measuring device can be independent and / or external to the dispensing boom and / or the parallel robot.

[0040] In one embodiment of the present invention, step b) comprises: determining a controller for controlling the distribution boom to position the discharge device so that the parallel robot reaches a central position and / or a central orientation. In particular, step a) comprises: identifying a model comprising a boom model of the distribution boom and a robot model of the parallel robot. Step b) comprises: determining a boom controller for controlling, in particular for said control, the distribution boom based on the identified boom model, and a robot controller for controlling, in particular for said control, the parallel robot based on the identified robot model. Identifying a system model of the building material system by controlling a drive with an input signal that determines a tip position of the boom tip by the determined boom controller, and by detecting an output signal having a deviation of the actual position of the parallel robot from the central position and / or the actual orientation of the parallel robot from the central orientation, while the parallel robot is controlled by the determined robot controller to reach a target position of the discharge device. Determining a controller depending on the identified system model. Step c) comprises: Controlling the distribution boom for positioning the discharge device by a determined controller (tracking controller or tracking controller), in particular controlling the parallel robot for positioning the discharge device by a determined robot controller. This makes it possible to ensure a wide operating range or working area of ​​the parallel robot. In particular, the central position can be defined or set by the center of a range of possible positions of the parallel robot, in particular limited by a mechanical stop. Additionally or alternatively, the central orientation can be defined or set by the center of a range of possible orientations of the parallel robot, in particular limited by a mechanical stop. Additionally or alternatively, the central position and / or central orientation can have a value. Additionally or alternatively, step b) can be referred to as identifying the system or identifying the system or system identification.Additionally or alternatively, the system model can be different from the boom model and / or the robot model. Additionally or alternatively, the controller can be different from the boom controller and / or the robot controller. Additionally or alternatively, the controller can be above the boom controller or located above the boom controller and / or can be referred to as a system controller. Additionally or alternatively, the tip position can be a target tip position and / or variable. Additionally or alternatively, the target position of the ejector can be variable. Additionally or alternatively, the term "difference" can be used synonymously with the term "deviation." Additionally or alternatively, the actual position and / or actual orientation can be variable.

[0041] In one embodiment of the present invention, the building material system includes a rotation mechanism and an inertial sensor device. The inertial sensor device is located at the end of the distribution boom, particularly the parallel robot and / or the discharge device, opposite the rotation mechanism, to detect one of the output signals generated by one of the distribution boom movements excited by the rotation of the rotation mechanism. This allows for high accuracy. In particular, the term "inertial measurement unit" can be used synonymously with the term "inertial sensor device." Additionally or alternatively, the inertial sensor device can be electrical and / or have an acceleration sensor and / or a rotational speed sensor, particularly an acceleration sensor and / or a rotational speed sensor. Additionally or alternatively, the output signal can represent acceleration and / or rotational speed, particularly acceleration and / or rotational speed. Additionally or alternatively, the inertial sensor device can be independent of and / or external to the distribution boom and / or the parallel robot and / or the measurement device. Additionally or alternatively, the end can be the last boom segment, particularly the boom tip.

[0042] In one development of the invention, the ejection device has a print head. In particular, the ejection device is a print head. The print head is designed to eject building material from the building material system and to shape the building material to form strands of building material, in particular for 3D printing building components. This method allows for precise positioning of the strands, in particular relative to the building environment. In particular, the building material system can be referred to as a pressure system. Additionally or alternatively, the molding and / or 3D printing can be automatic. Additionally or alternatively, the building material can be concrete, in particular fresh concrete, and / or can be thixotropic and / or puncture-resistant or shape-stable, in particular during ejection. Additionally or alternatively, in particular, the strands, in particular the ejected and / or shaped strands, can be continuous or elongated, in particular extending over a determined length. Additionally or alternatively, a strand can be deposited or placed on an already formed strand or strands, in particular layer by layer, and / or another strand can be deposited or placed on a strand or strands, in particular layer by layer. Additionally or alternatively, the building component can be three-dimensional and / or a building building component and / or a wall and / or a ceiling. Additionally or alternatively, the strand, in particular the width of the strand, can have a wall thickness and / or a ceiling thickness, in particular a total wall thickness and / or a total ceiling thickness. Additionally or alternatively, 3D printing can be referred to as additive manufacturing.

[0043] In one development of the invention, in particular in one embodiment, step c) comprises controlling the building material system on the basis of data of building components, in particular of building components to be constructed, in particular of building components to be printed, in particular a building plan or construction plan, in particular in a memory of the building material system, which makes it possible to reduce or even avoid errors during construction.

[0044] In one development of the invention, the method comprises the following steps: during control of the building material system, in particular for positioning the discharge device, for dispensing the building material, discharge of the building material by means of a discharge device during control of the building material system.

[0045] In one development of the invention, the building material system comprises a conveying line. The conveying line is arranged along the distribution boom for delivering the building material to the discharge device. Additionally or alternatively, the building material system comprises a building material pump. The building material pump is designed to convey the building material to the discharge device, in particular for conveying it through the conveying line, in particular for discharging the conveyed building material. In particular, the method comprises the following steps: conveying the building material by the building material pump during control of the building material system, in particular for positioning the discharge device. In particular, the conveying line can be adjustable and / or have a pipeline, in particular it can be a pipeline. Additionally or alternatively, the conveying can be automatic. Furthermore additionally or alternatively, the building material pump can be discontinuous, in particular a piston pump, in particular a twin-piston pump, in particular with a pipe changeover.

[0046] The system according to the invention is particularly designed to operate a building material system, in particular to operate a building material system. The system comprises an identification, determination and control device. The identification, determination and control device is designed to execute the above-mentioned method, in particular to execute the above-mentioned method automatically. In particular, the system comprises a building material system. This system can enable the same / several of the same advantages as the above-mentioned method. In particular, the system, in particular the identification, determination and control device, can be electrical and / or comprise a computing device, in particular a processor, and / or a storage device, in particular a computer.

[0047] Other advantages and aspects of the invention will become apparent from the claims and from the following description of exemplary embodiments of the invention taken in conjunction with the drawings. [Brief explanation of the drawings]

[0048] [Figure 1] 1 is a schematic diagram of a system according to the invention comprising a building material system and a method of operating a building material system according to the invention; [Figure 2] 2 is a schematic diagram of the discharge device and building material pump of the building material system of FIG. 1 during operation. [Figure 3] 2 is a schematic diagram of a strand building component formed from building material 3D printed by the building material system of FIG. 1. [Figure 4] FIG. 2 is a schematic diagram of a flow chart of the method of FIG. 1. [Figure 5] 2 is a schematic diagram of another flow chart of the method of FIG. 1. [Figure 6] 2 is a schematic diagram of a graph of the amplitude of a step signal over time of the method of FIG. 1; [Figure 7] 2 is a schematic diagram of yet another flow chart of the method of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0049] 1, 2, 4, 5 and 7 show a system 12 according to the invention for operating the method and building material system 1 according to the invention.

[0050] The system 12 comprises an identification, determination and control device 13. The identification, determination and control device 13 is adapted to carry out, in particular to carry out, the method.

[0051] In particular, the system 12 comprises a building material system 1 .

[0052] The building material system 1 includes a discharge device 2, a distribution boom 3, and controllable drives 4a, 4b, 4c, 4d, 4e, 4f, 4g, and 4h. The discharge device 2 is designed to discharge, in particular discharge, building material BS from the building material system 1. The distribution boom 3 has, in particular position, adjustable boom segments 3a, 3b, 3c, and 3d for positioning the discharge device 2. The drives 4a-e are configured to drive, in particular drive, the boom segments 3a-d. The method includes the following steps: step a) identifying a model 1M of the building material system 1, in particular a boom model 3M of the distribution boom 3, by controlling the drives 4a-e with an input signal for exciting the operation of the distribution boom 3 and detecting an output signal OS resulting from the excited operation; step b) determining, in particular calculating, a controller RE, in particular a boom controller 3RE, based on the identified model 1M, in particular the identified boom model 3M. Step c) Controlling the building material system 1 by means of the determined controller RE, in particular the determined boom controller 3RE, in particular to reach and / or maintain the target position of the dispensing boom 3.

[0053] In the illustrated exemplary embodiment, the distribution boom 3 has four boom segments 3a-d. In alternative embodiments, the distribution boom can have at least three boom segments.

[0054] In particular, the building material system 1 has a parallel robot 7, in particular a delta robot 7'. The distribution boom 3 is designed to position, and in particular positions, the parallel robot 7, in particular at the boom tip 3S of the distribution boom 3. The parallel robot 7 is designed to position, and in particular positions, the discharge device 2. The drives 4f-h are designed to drive, and in particular drive, the parallel robot 7. In particular, step a) comprises: identifying at least a model 1M of the building material system 1, in particular a robot model 7M of the parallel robot 7, by controlling the drives 4f-h with input signals IS for exciting the movement of the parallel robot 7 and by detecting output signals OS resulting from the excited movement. In particular, the output signals OS represent the position PO and / or orientation AR of the parallel robot 7 and / or the discharge device 2 relative to the building environment BU of the building material system 1. In particular, the output signals OS are the position PO and / or orientation AR. Step b) comprises: determining at least a controller RE, in particular a robot controller 7RE, based on at least the identified model 1M, in particular the identified robot model 7M. Step c) comprises: controlling the building material system 1 by means of at least the determined controller RE, in particular the determined robot controller 7RE, in order to reach and / or maintain a target position and / or a target orientation, in particular of the parallel robot 7.

[0055] In detail, step b) comprises: determining a controller RE for controlling the distribution boom 3 to position the discharge device 2 so that the parallel robot 7 reaches its central position and / or its central orientation. In particular, step a) comprises: identifying a model 1M comprising a boom model 3M of the distribution boom 3 and a robot model 7M of the parallel robot 7. Step b) comprises: determining a boom controller 3RE for controlling the distribution boom 3 based on the identified boom model 3M and a robot controller 7RE for controlling the parallel robot 7 based on the identified robot model 7M. While the parallel robot 7 is controlled by the determined robot controller 7RE to reach the target position of the discharge device 2, identifying a system model SM of the building material system 1 by controlling the drives 4a-e using an input signal IS that determines the tip position SPO of the boom tip 3S by the determined boom controller 3RE and by detecting an output signal OS that includes a deviation DI of the actual position of the parallel robot 7 from the central position and / or the actual orientation of the parallel robot 7 from the central orientation. Determining a controller RE depending on the identified system model SM. Step c) comprises: controlling the distribution boom 3 for positioning the discharge device 2 by means of a determined controller RE and the parallel robot 7 for positioning the discharge device 2 by means of a specifically determined robot controller 7RE.

[0056] Furthermore, the input signal IS is intended to excite the frequency spectrum of the distribution boom 3 in order to identify in particular the boom model 3M and / or the frequency spectrum of the parallel robot 7 in order to identify in particular the robot model 7M.

[0057] Furthermore, the input signal IS comprises a step signal SP, in particular having a step signal of varying duration ZD and / or varying amplitude AT, in order to identify the boom model 3M in particular. In particular, the input signal IS is a step signal SP in order to identify the robot model 7M in particular. This is shown in FIG. 6.

[0058] Furthermore, step a) is performed in order to identify different models 1M of the building material system 1, in particular different boom models 3M of the dispensing boom 3, for different positions of the dispensing boom 3 and / or for different loadings of the building material BS onto the dispensing boom 3. Step b) comprises: determining, in particular only determining, a controller RE, in particular a single controller RE, in particular a boom controller 3RE, based on the identified model 1M, in particular the identified boom model 3M.

[0059] Furthermore, step a) is performed by a controller ERE, in particular a P-controller PRE, that is simpler than the controller RE determined in step b). Additionally or alternatively, the model 1M comprises a linear model 1LM. In particular, the model 1M is a linear model 1LM. Still additionally or alternatively, the controller RE determined in step b) comprises a linear controller LRE, in particular an LQ controller, an LQG controller, an LPV controller, and / or a robust controller RRE, in particular an H-infinity controller, and / or a model predictive controller MPRE. In particular, the determined controller RE is a linear controller LRE and / or a robust controller RRE and / or a model predictive controller MPRE.

[0060] In other words: the input signals are not output directly, but rather interfere with the simpler controller in order to maintain the working area of ​​the drive and, overall, not risk colliding with any object.

[0061] Additionally or alternatively, a model in the form of a state space representation (differential equation), a transfer function, an ARMA or ARMAX model (or the like) can be identified by special methods (optimization, subspace methods, etc.).

[0062] Furthermore, the building material system 1 and / or the dispensing boom 3 have a rotation mechanism 5 and / or rotary joints 6a, 6b, 6c, 6d for adjusting the boom segments 3a-d. Additionally or alternatively, the output signal OS represents the rotation angle positions WSa, WSb, WSc, WSd, WSe, in particular, and the rotation angle position velocities of the boom segments 3a-d, in particular for identifying the boom model 3M. In particular, the output signal OS is the rotation angle positions WSa-e, in particular, and the rotation angle position velocities. Furthermore additionally or alternatively, the controller RE comprises a rotation angle controller WRE. In particular, the controller RE is a rotation angle controller WRE.

[0063] In the illustrated exemplary embodiment, the building material system 1 and / or the dispensing boom 3 has four rotary joints 6a-d. In alternative exemplary embodiments, the building material system and / or the dispensing boom can have at least three rotary joints.

[0064] In particular, the building material system 1 comprises a rotation mechanism 5 and an inertial sensor device 9. The inertial sensor device 9 is arranged at the end 3S of the distribution boom 3, located opposite the rotation mechanism 5, in particular at the parallel robot 7 and / or the discharge device 2, in order to detect an output signal OS caused by the movement stimulated by the rotation of the rotation mechanism 5.

[0065] Furthermore, the detection of the output signals OS caused by the stimulated movements of the parallel robot 7 is carried out by an optical measuring device 8, in particular a laser tracker 8'.

[0066] In other words: The control signal of the valve can be called the input signal of the distribution boom. In the case of a parallel robot, this can be the position setting. As an output signal, this can be the respective arm angle in the case of a distribution boom, or the current position in the global coordinate system in the case of a parallel robot.

[0067] Furthermore, the ejection device 2 has a print head 2'. In particular, the ejection device 2 is a print head 2'. The print head 2' is designed to eject the building material BS from the building material system 1 and to shape the building material BS to form strands ST of the building material BS, in particular to 3D print, in particular eject, shape, thereby form, in particular print, the building part BWT. This is shown in Figure 3.

[0068] Furthermore, step c) comprises controlling the building material system 1 in dependence on the data DBWT of the building part BWT to be constructed, in particular printed, in order to cycle through the particularly set activations.

[0069] The method further comprises the steps of: Discharging the building material BS by the discharge device 2 during control of the building material system 1, in particular for positioning the discharge device 2, for dispensing the building material BS.

[0070] Furthermore, the building material system 1 comprises a conveying line 10, which is arranged along the distribution boom 3 for sending the building material BS to the discharge device 2. Additionally or alternatively, the building material system 1 comprises a building material pump 11, which is designed to, in particular to, convey the building material BS to the discharge device 2, in particular through the conveying line 10. In particular, the method comprises the following steps: Conveying the building material BS by the building material pump 11 during control of the building material system 1, in particular for the positioning of the discharge device 2.

[0071] Furthermore, the discharge device 2, the distribution boom 3, the drive devices 4a-h, the parallel robot 7, the inertial sensor device 9, the measuring device 8 and / or the building material pump 11 are each designed to cooperate and in particular cooperate with the identification, determination and control device 13.

[0072] Furthermore, the distribution boom 3 has a positioning accuracy 3PG of at least 500 mm and / or at most 10 mm, and / or the distribution boom 3 has a reach 3R of at least 10 m (meters) and / or at most 100 m, and / or the distribution boom 3 has a maximum speed 3vmax of at least 10 mm / s (millimeters per second) and / or at most 2 m / s (meters per second), and / or the distribution boom has a maximum speed 3vmax of at least 1 m / s (millimeters per second) and / or at most 2 m / s (meters per second). 2 (meters per square second) and / or up to 20 m / s 2 and / or the parallel robot 7 has a positioning accuracy 7PG of at least 50 mm and / or at most 0.1 mm, in particular at most 1 mm, and / or the parallel robot 7 has a reach 7R of at least 10 mm, in particular at least 100 mm and / or at most 1000 mm, in particular at most 500 mm, and / or the parallel robot 7 has a maximum speed 7vmax of at least 10 mm / s and / or at most 10 m / s, and / or the parallel robot 7 has a maximum speed 7vmax of at least 10 mm / s and / or at most 10 m / s. 2 and / or up to 500 m / s 2 It has a maximum acceleration and / or deceleration of 7amax.

[0073] As the illustrations and the exemplary embodiments described above make clear, the present invention is based on an advantageous method and an advantageous system, respectively, for operating a building material system, each having improved properties.

Claims

1. A method (1) of operating a building material system, comprising: A building material system (1) comprising a discharge device (2), a distribution boom (3) and controllable drives (4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h), The discharge device (2) is designed to discharge the building material (BS) from the building material system (1), The dispensing boom (3) has adjustable boom segments (3a, 3b, 3c, 3d) for positioning the discharge device (2); the drives (4a-e) are designed to drive the boom segments (3a-d), The method comprises: a) identifying a model (1M) of the building material system (1) by controlling the drive devices (4a-e) by input signals (IS) for exciting the movement of the dispensing boom (3) and by detecting output signals (OS) resulting from the excited movement; b) determining, in particular calculating, a controller (RE) based on said identified model (1M); c) controlling the building material system (1) by the determined controller (RE), in particular to reach and / or maintain the target position of the dispensing boom (3); A method having the following.

2. said input signal (IS) is intended to excite the frequency spectrum of said distribution boom (3); The method of claim 1.

3. characterised in that the input signal (IS) comprises step signals (SP), in particular step signals (SP) of different durations (ZD) and / or different amplitudes (AT), 3. The method according to claim 1 or 2.

4. step a) is performed to identify different models (1M) of the building material system (1) for different positions of the distribution boom (3) and / or for different loadings of building material (BS) onto the distribution boom (3), step b) determining a controller (RE) based on the identified model (1M), in particular determining a single controller (RE), in particular determining only a single controller; The method according to any one of claims 1 to 3.

5. step a) is carried out by a controller (ERE) simpler than the controller (RE) determined in step b), in particular a P-controller (PRE); and / or said model (1M) comprises a linear model (1LM), in particular is a linear model; and / or the controller (RE) determined in step b) comprises a linear controller (LRE), in particular an LQ-controller, an LQG-controller, an LPV-controller and / or a robust controller (RRE), in particular an H-infinity-controller and / or a model predictive controller (MPRE), in particular a linear controller (LRE), in particular an LQ-controller, an LQG-controller, an LPV-controller and / or a robust controller (RRE), in particular an H-infinity-controller and / or a model predictive controller (MPRE), The method according to any one of claims 1 to 4.

6. the building material system (1) and / or the dispensing boom (3) have a rotation mechanism (5) and / or a rotary joint (6a, 6b, 6c, 6d) for adjusting the boom segments (3a-d); and / or the output signals (OS) represent the rotational angular positions (WSa, WSb, WSc, WSd, WSe), in particular the rotational angular position velocities, of the boom segments (3a-d), in particular the rotational angular positions (WSa-e), in particular the rotational angular position velocities, and / or The controller (RE) comprises a rotation angle controller (WRE), in particular is the rotation angle controller (WRE), The method according to any one of claims 1 to 5.

7. said building material system (1) having a parallel robot (7), in particular a delta robot (7'), The distribution boom (3) is designed to position the parallel robot (7), in particular at the boom tip (3S) of the distribution boom (3), said parallel robot (7) is designed to position said ejection device (2), The drive devices (4f-h) are designed to drive the parallel robot (7), In particular, step a) comprises identifying at least the model (1M) of the building material system (1) by controlling the drive devices (4f-h) by means of the input signals (IS) for exciting the movement of the parallel robot (7) and by detecting the output signals (OS) resulting from the excited movement, in particular the output signals (OS) representing the position (PO) and / or the orientation (AR) of the parallel robot (7) and / or the discharge device (2) relative to the building environment (BU) of the building material system (1), in particular the position (PO) and / or the orientation (AR) of the parallel robot (7) and / or the discharge device (2) relative to the building environment (BU) of the building material system (1), step b) comprises determining at least the controller (RE) based on at least the identified model (1M); Step c) comprises controlling the building material system (1) by at least the determined controller (RE), in particular to reach and / or maintain a target position and / or a target orientation of the parallel robot (7), The method according to any one of claims 1 to 6.

8. the detection of the output signals (OS) generated by the excited movements of the parallel robot (7) is carried out by an optical measuring device (8), in particular a laser tracker (8'); The method of claim 7.

9. step b) comprises determining the controller (RE) for the control of the distribution boom (3) for positioning the discharge device (2) so that the parallel robot (7) reaches a central position of the parallel robot and / or a central orientation of the parallel robot, In particular, step a) comprises identifying the model (1M) comprising a boom model (3M) of the distribution boom (3) and a robot model (7M) of the parallel robot (7), The step b) determining a boom controller (3RE) for controlling the distribution boom (3) based on the identified boom model (3M) and a robot controller (7RE) for controlling the parallel robot (7) based on the identified robot model (7M); Identifying a system model (SM) of the building material system (1) by controlling the driving devices (4a-e) by input signals (IS) that determine the tip position (SPO) of the boom tip (3S) by the determined boom controller (3RE) while the parallel robot (7) is controlled by the determined robot controller (7RE) to reach the target position of the discharge device, and by detecting output signals (OS) that have deviations (DI) of the actual position of the parallel robot (7) from the center position and / or the actual orientation of the parallel robot (7) from the center orientation; determining the controller (RE) based on the identified system model (SM); and step (c) comprises controlling the distribution boom (3) for positioning the discharge device (2) by the determined controller (RE), in particular controlling the parallel robot (7) for positioning the discharge device (2) by the determined robot controller (7RE); 9. The method according to claim 7 or 8.

10. the building material system (1) comprises a rotation mechanism (5) and an inertial sensor device (9), the inertial sensor device (9) being arranged at the end (3S) of the distribution boom (3) opposite the rotation mechanism (5), in particular at the parallel robot (7) and / or at the discharge device (2) in order to detect an output signal (OS) generated by a movement excited by the rotation of the rotation mechanism (5); A method according to claim 6 and in particular any one of claims 7 to 9.

11. said ejection device (2) having a printhead (2'), in particular a printhead, The print head (2') is designed to eject the building material (BS) from the building material system (1) and to shape the building material (BS) to form strands (ST) of the building material (BS), in particular to 3D print building parts (BWT), The method according to any one of claims 1 to 10.

12. step c) comprises controlling the building material system (1) based on data (DBWT) of the building components (BWT) to be constructed, in particular based on data (DBWT) of the building components (BWT) to be printed; The method according to any one of claims 1 to 11, in particular claim 11.

13. The method comprises the step of discharging the building material (BS) by means of the discharge device (2) during the control of the building material system (1), in particular for the positioning of the discharge device (2) for dispensing the building material (BS), The method according to any one of claims 1 to 12.

14. the building material system (1) comprises a conveying line (10) arranged along the distribution boom (3) for conveying the building material (BS) to the discharge device (2); and / or the building material system (1) comprises a building material pump (11) which is designed to convey building material (BS) in particular through the conveying line (10) to the discharge device (2), and in particular the method comprises the step of conveying building material (BS) by means of the building material pump (11) during control of the building material system (1), in particular for the positioning of the discharge device (2); The method according to any one of claims 1 to 13.

15. A system (12) for operating a building material system (1), said system (12) comprising an identification, determination and control device (13), said identification, determination and control device (13) being designed to carry out the method according to any one of claims 1 to 14, in particular said system (12) comprising said building material system (1).

Images