Construction System

Abstract

A construction system, particularly a construction system for operation by an end user, comprising a robotic device configured to construct a wall and / or column structure and at least one marking device for defining the course, form, and / or position of the wall and / or column structure, the marking device being detectable by the robotic device, and the robotic device configured to construct the wall and / or column structure at and / or along the marking device.

Description

[Technical Field]

[0001] The present invention relates to a construction system, in particular a construction system for operation by an end user. Furthermore, the present invention relates to drive tools, stringing devices, robotic devices, and planning and / or operating devices. The present invention also relates to a method for operation of a construction system. [Background technology]

[0002] The concrete industry is responsible for high CO2 emissions. Constructions (e.g., walls) for framing land or real estate properties are often constructed with large amounts of concrete. Furthermore, concrete constructions (especially concrete walls) require a solid foundation and cannot be built on normal ground. Therefore, the construction of concrete constructions is usually expensive. In addition, the components of such constructions cannot be directly reused, as they must be recycled. If natural stone is used, its value may be reduced after demolition because it is contaminated by concrete residues.

[0003] An alternative to traditional concrete constructions are so-called "Jammed Architectural Structures." Such constructions can be made from stone chips or crushed stone packed together by pressure and a vibration or shaking process. The so-called jamming effect can be increased by the use of strings, which can be unwound during the building process throughout the stone structure.

[0004] The use of robots to build so-called "packed building structures" is known. However, such robots require highly skilled operating personnel, require large workspaces due to the size of the robots, and can lead to high noise levels during operation. Therefore, the possible application scenarios for the use of robots in building "packed building structures" are limited. Summary of the Invention [Problem to be solved by the invention]

[0005] In view of the above, the present invention aims to provide a construction system that can be operated with increased flexibility and / or reduced complexity, a drive tool, a stringing device, a robotic device, and a planning and / or operating device, and finally, a method for operating a construction system. [Means for solving the problem]

[0006] With regard to construction systems, the above objectives are: This is solved by the subject matter of claim 1. The drive tool comprises: The subject of claim 29, wherein the string device comprises The subject of claim 35, wherein the robotic device comprises: The subject of claims 43 and 44, wherein the planning and / or operating device comprises The subject of claim 45. A method for operating a construction system comprising: It is the subject of claim 46. Preferred embodiments are set out in the dependent claims and are discussed below.

[0007] A construction system according to the present invention may be particularly suitable for operation by an end user (eg, an end consumer and / or owner or user of a residential property, real estate property and / or garden land, etc.).

[0008] A construction system according to the present invention may include a robotic device configured to construct a wall and / or column structure and at least one marking device for defining the course, form, and / or location of the wall and / or column structure. The marking device may be detectable by the robotic device, and the robotic device may be configured to construct the wall and / or column structure at and / or along the marking device.

[0009] The use of a marking device in combination with a robotic device (which is capable of detecting the marking device) can ensure greater flexibility and lower complexity with regard to the operation of the construction system. In particular, an end user can lay out the marking device along the intended course and / or location of the wall and / or column structure to be erected. The robotic device can then be put into operation to build the wall and / or column structure along and / or at the marking device without or with only minimal input by the end user. Thus, the presence of highly skilled operating personnel is no longer required at the construction site.

[0010] Thus, a robotic device may be pre-programmed to detect and / or follow a marking device and / or to perform construction operations at and / or along a marking device. The pre-programming of the robotic device may, among other things, enable an end user with no or little programming knowledge to initiate construction operations performed by the robotic device.

[0011] According to preferred embodiments of the present invention, the marking device may be configured as and / or may include an elongated and / or flexible device and / or configured to be laid out by an end user along the intended course and / or location of the wall and / or column structure. The marking device may be provided in a rolled, coiled and / or folded manner, thus allowing easy handling by the end user, inter alia, before and / or during the layout procedure.

[0012] According to further preferred embodiments, the marking device may be configured as and / or include a wire, cord, tape and / or belt detectable by a sensor of said robotic device. In particular, the marking device may be configured as and / or include a sensor wire detectable by a sensor of said robotic device. Such a marking device may be provided at only little cost and may be easily laid out and / or brought into position to define the course and / or position of wall and / or column structures.

[0013] Preferably, the marking device may include a measuring scale detectable by said robotic device and / or by operating personnel, which may improve operation accuracy before and during construction of the wall and / or column structure and may also facilitate possible planning activities (e.g., measuring operations by end users, etc.).

[0014] According to a further preferred embodiment, the marking device may include at least a start marker for marking the start point of the wall structure and / or the position of the pillar structure to be constructed, and / or an end marker for marking the end point of the wall structure and / or the position of the pillar structure to be constructed. Thus, the start point and / or the end point of the wall structure and / or the position of the pillar structure can be easily detected by the robot device. Therefore, the construction of the wall and / or pillar structure with high precision can be ensured.

[0015] According to a further preferred embodiment, the marking device may comprise a feature marker, preferably for marking the location of features and / or extensions and / or interruptions or gaps in the wall and / or column structure to be constructed. Such interruptions or gaps may form access gates in the wall and / or column structure. The versatility of the construction system and of the respective construction to be erected may thereby be further improved.

[0016] Preferably, the marking device may include a storage marker for marking the location of a material storage for the construction material, whereby the degree of organization regarding the operation of the construction system may be improved and automation may be further facilitated.

[0017] It is also possible that the marking device comprises a supply marker for marking the position of a power and / or water supply connection. The functionality of the wall and / or column structure can thereby be improved, while at the same time ensuring a high level of automation for the construction process.

[0018] According to a further preferred embodiment, the construction system further includes a platform that provides a driving and / or rolling surface for the robotic device, which (in particular its wheels) may be protected from wet and / or muddy underground conditions, thereby reducing the risk of unintentional stopping of the robotic device during movement or travel.

[0019] Preferably, the platform is composed of a plurality of platform elements, which allows a relatively large platform surface to be realized. Moreover, the platform can be connected to the marking device, whereby the position of the platform relative to the marking device can be maintained with high accuracy and reliability.

[0020] Moreover, the platform can include a storage section for storing construction materials. Preferably, the platform includes at least one elevation ramp and / or elevation element for providing a driving surface and / or a rolling surface at the elevated level, in particular at the elevated level for at least one further platform element. When the wall and / or column structure becomes higher than the arm reach of the robotic device, the robotic device can move or drive up the elevation ramp and follow the line of the marking device on the elevated path. Construction can then continue at the elevated level, thereby building a wall and / or column structure having a relatively large height.

[0021] According to a further preferred embodiment, the construction system further includes a delivery marking device for marking a construction material and / or construction equipment delivery zone. Such a delivery marking device is detectable by a delivery truck and / or delivery equipment. It is also possible that such a delivery marking device is detectable by delivery personnel, regardless of whether they use the delivery equipment. The delivery marking device may be attached to or connected to a marking device for defining the course, form, and / or position of the wall and / or column structures. The delivery marking device may also be located and / or configured to be located at a predetermined distance from the marking device for defining the course, form, and / or position of the wall and / or column structures. Delivery of the required construction materials and equipment may thereby be further facilitated or automated.

[0022] According to a further preferred embodiment, the robotic device is configured to build a wall and / or column structure from solid material pieces and a string for packing the solid material pieces. More generally, the robotic device may be configured to build a construction from solid material pieces and a string for packing the solid material pieces. A construction according to the present invention may be, inter alia, but is not limited to, a wall and / or column structure. A construction according to the present invention may generally refer to architectural structures of different types, forms, and sizes. In particular, a construction according to the present invention may be an enclosure for a yard (e.g., a front yard and / or a rear yard) of a real estate property.

[0023] According to a further preferred embodiment, the robotic device may be configured to build a wall and / or column structure by means of support portions and covering portions for covering the support portions, the support portions being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portions comprising at least one covering device, and the robotic device configured to attach the string to the at least one covering device.

[0024] The support part itself can already provide a certain degree of mechanical stability due to the compaction effect, which can be strengthened, inter alia, due to the use of strings. Now, by providing the covering part with at least one covering device, the appearance of the construction can be improved. The strings and / or solid material pieces of the support part can be adequately covered by the covering part and therefore can be less visible or can be completely covered.

[0025] At the same time, providing the covering section and attaching at least one covering device to the string allows for further improvement of the mechanical properties and durability of the construction. The covering section with at least one covering device can further strengthen the packing effect in the support structure and, in particular, prevent single solid material pieces from slipping out or detaching from the support section. Therefore, loose string sections hanging from the construction can also be avoided. This reduces the risk of unintended deterioration or demolition processes. Due to the attachment of the string and at least one covering device, the covering device can be properly held in place and can provide holding support for at least some of the solid material pieces of the support structure.

[0026] According to the present invention, the term "string" is not limited to textile, synthetic or metal strings, but can refer to any kind of elongated flexible attachment means. For example, a "string" in the sense of the present invention can also refer to flexible cables, chains, belts and / or straps, synthetic or carbon fiber strings, etc.

[0027] According to a preferred embodiment of the present invention, the construction system may be configured to produce dry constructions, in particular drywall or drypost systems, whereby the assembly or production process may be expedited, since no watering and drying steps are required. Thus, the construction system according to the present invention may be configured to produce such dry constructions, in particular such drywall or drypost systems.

[0028] According to a preferred embodiment, the construction system can be configured to be dismantled (at least partially dismantled) by undoing the strings of the support parts. In particular, the construction system can be configured to be dismantled by reversing the assembly process. Thus, the quality and / or usability of the single construction components can be maintained after dismantling. Moreover, dismantling can be preferable when cleaning the construction does not compensate for the aging effects, for example, when cleaning equipment cannot reach into gaps or pores of solid material pieces or covering devices. Dismantling can then allow for the individual cleaning of each component until the aging effects are adequately removed.

[0029] Moreover, the construction system may be configured to generate support and / or covering parts that are positioned and / or assembled at least section-wise in the ground and / or below the ground surface and / or in holes in the ground, preferably below the frost line, whereby the construction is able to replace the base or foundation of the building structure, especially in the event of severe ground movements.

[0030] According to a further preferred embodiment, the construction system can be configured to generate covering portions arranged around and / or on multiple sides of the support portion. The covering portions can provide a cast for the support portion, in particular a cast for the composite of the solid material pieces and strings of the support portion. This can further improve the mechanical properties and durability of the construction as well as the appearance. Providing a cast can further facilitate the construction of the support structure.

[0031] According to a further preferred embodiment, the construction system may be configured to generate a construction comprising at least one coating device made from a different material and / or having a different optical appearance than at least some of the solid material pieces of the support structure. Thus, the coating device may be chosen in terms of appearance criteria and the construction system may be configured and / or pre-programmed to select according to the coating device.

[0032] According to a further preferred embodiment, the construction system may preferably be configured to pack and / or stamp and / or compress the solid material pieces in order to increase the packing effect, whereby the stability of the support part may be further improved.

[0033] According to further preferred embodiments, the construction system may preferably be configured to lay strings at least cross-sectionally in and / or through the support parts and / or between the solid material pieces and / or to lay strings loosely and / or to tighten strings at least cross-sectionally in order to increase the compaction effect, whereby the mechanical properties and durability of the support parts may be further enhanced.

[0034] According to a further preferred embodiment, the construction system may be configured to arrange the strings in a pattern that alternates between the central area of the support part and the different covering devices, whereby the contribution of the strings to the compaction effect within the support part may be further improved.

[0035] According to a further preferred embodiment, the construction system can be configured to generate a construction with a covering portion including a plurality of covering devices, preferably arranged adjacent to each other and / or along and / or adjacent to the support portion. This allows a larger surface to be covered and / or a larger form for the support portion to be provided. The strings can be attached to a plurality of covering devices, preferably to a plurality of covering devices on different sides of the support portion. The overall stability of the construction can thus be further improved.

[0036] According to yet further preferred embodiments, the at least one covering device can be made of and / or can include stone and / or glass and / or metal materials, which can provide an aesthetic appearance while at the same time allowing sufficient holding functionality for the support part (in particular a stable mold for the support part).

[0037] According to still further preferred embodiments, at least one covering device may include a visible side facing away from the support portion and / or a functional side facing the support portion, and the construction system may be configured to attach the string to the covering device at the functional side. Thus, the functional side may be specifically designed for the attachment of the string, and the visible side may be designed or provided for an improved or high-quality appearance.

[0038] According to yet a further preferred embodiment, the construction system may be configured to compress and / or stamp the solid material piece against the covering portion and / or against and / or while being held and / or constrained by the at least one covering device, whereby the degree of compression and / or the compaction effect may be further increased and thus the string may be tightened thereby, and thus the overall mechanical properties may be further improved.

[0039] According to yet further preferred embodiments, the construction system may be configured to provide attachment between the string and the at least one covering device via a form-fit and / or non-positive connection and / or via adhesive, such attachment may provide a high degree of reliability, thereby further improving the long-term stability of the construction.

[0040] According to yet further preferred embodiments, the construction system can be configured to produce a construction in which at least one covering device includes at least one exterior component or components and at least attachment elements and / or attachment portions for attachment by strings. The exterior components can preferably include a visible side facing away from the support portion and / or a functional side facing the support portion. The attachment elements and / or attachment portions can be arranged on the functional side. Thus, the attachment elements and / or attachment portions cannot be seen from the outside or can be covered by the exterior components of the covering device. This can further improve the appearance of the construction.

[0041] The attachment elements and / or attachment portions may be configured as hooks and / or eyes and / or notches to which the string is attached and / or hooked. Such attachment elements and / or attachment portions may be provided at little cost and may provide a secure and long-lasting attachment. Moreover, the attachment between the string and such attachment elements and / or attachment portions may be established with little effort by the construction system according to preferred embodiments of the present invention.

[0042] According to an even further preferred embodiment, the construction system may be configured to identify at least one covering device via an identification device, which is preferably arranged on the mounting element and / or mounting part. Such an identification device may preferably be configured as a flat platform and / or for detection by a sensor or visible to humans, and / or may be configured with a position and / or orientation marker and / or a data code or device ID. This allows for easy identification and also the possibility of tracking a single covering device. This may facilitate the generation of construction, for example, to ensure the correct location of a single covering device and to ensure its replacement.

[0043] According to yet further preferred embodiments, the construction system may be configured to arrange at least one luminary, preferably several luminaries and / or light chains in the free space between the supporting part and the visible outer surface of the covering part, whereby the construction may be further improved in terms of aesthetic appearance and may also provide lighting functionality for the surroundings of the construction, for example for paths or walkways along the construction.

[0044] Preferably, the plurality of light emitters may be configured to exhibit a light pattern, which may be configured for continuous and / or periodic variation, which may further improve the appearance or lighting functionality.

[0045] According to yet further preferred embodiments, the construction system may be configured to arrange multiple cladding devices in a predetermined pattern, preferably in a predefined and / or optical and / or color and / or design and / or picture pattern and / or in a pattern of different stone types, preferably with different aging and / or weathering characteristics and / or with different transparency and / or translucency, thereby further enhancing the possibilities to achieve different design and appearance effects.

[0046] According to yet further preferred embodiments, the construction system may be configured to position two adjacent covering devices at a predetermined distance from each other, and / or a gap may be provided between two adjacent covering devices. Thus, the space between two adjacent covering devices and / or the space between the outer component of the covering device and the shielding component or portion may be visible from the outside, which may be aesthetic, for example, in the case of the placement of plants or the like in the construction. Also, light may penetrate through such a gap between two adjacent covering devices.

[0047] According to yet further preferred embodiments, the construction system may be configured to provide a covering section with a plurality of covering devices, at least some of which may be arranged in an overhanging configuration and / or may be arranged to overhang at least one of the underlying covering devices. The centers of gravity of the overhanging covering devices may be arranged to hold them in place, preferably without any connection to the string, thereby facilitating installation of the overhanging covering devices prior to attachment to the string. The overhanging configuration may allow for a more complex geometric overall design of the construction, thereby improving the functionality of the construction.

[0048] According to yet further preferred embodiments, the construction system may be configured to surround a structure connected and / or based and / or embedded in the respective ground or soil with a support part and / or a covering part. Strings may be connected to the structure connected and / or based and / or embedded in the respective ground or soil. The overall mechanical properties may be further enhanced. In particular, the construction may be secured against unintentional tilting relative to the ground or soil.

[0049] According to yet further preferred embodiments, the construction system may be configured to provide a top cover portion covering at least the support portion from the upper side and / or positioned on top of the side cover portions extending vertically from the covering portion. The top cover portion may be a 3D printed structure and / or may be printed as a negative form of the upper surface of the support structure and / or the upper surface of the side cover portions. This may further improve the stability of the construction and reduce the effects of weathering.

[0050] According to yet further preferred embodiments, the top cover portion may be configured to fasten and / or receive the solid material pieces of the support portion and / or the covering devices of the vertically extending side cover portions of the covering portion. The top cover portion may have recesses that match the upper surfaces of the support portion and / or the vertically extending side cover portions. The top cover portion may be configured as a flat platform, preferably configured for the installation of a roof and / or lights or illumination.

[0051] According to yet a further preferred embodiment, the construction system may be configured to provide an intermediate layer, preferably a stone intermediate layer, between the support portion and the covering portion. The intermediate layer may be provided by stones or other solid material pieces having a size equal to or larger than the gap between two adjacent covering devices. The stones or material pieces of the intermediate layer may have a rounded and / or rounded shape. The stones or material pieces of the intermediate layer may be visible through the gap between two adjacent covering devices. Such an intermediate layer may again be arranged for aesthetic or appearance reasons. An observer from the outside may be able to see through it the covering portion and the intermediate layer between the covering portion and the support portion. Thus, two different types of material layers may be recognized.

[0052] According to a preferred embodiment of the present invention, the robotic device may be configured to operate and / or initialize by an end user without programming knowledge and / or by an unskilled worker. Moreover, the robotic device may be configured for autonomous operation and / or may be configured as a mobile autonomous robotic device, thereby further improving operational flexibility and versatility.

[0053] According to further preferred embodiments of the present invention, the robotic device may be configured to follow the marker device and to read the markers and / or to outline the intended wall and / or column structures in a map and / or to generate a 3D model of the environment, thereby further improving the degree of automation and planning capabilities.

[0054] According to a further preferred embodiment, 3D models and / or pictures of the ground for the wall and / or column structure to be constructed may be submitted to a provider and / or cloud for data analysis, preferably for automated data analysis and / or manual data analysis by an expert, thereby further reducing the risk of failure during operation of the construction system for constructing the wall and / or column structure.

[0055] According to a further preferred embodiment, the construction system may further include an ordering device for ordering construction materials based on the data collected and / or further analyzed by the robotic device, which may further improve user convenience.

[0056] According to still further preferred embodiments, the robotic device may be configured to detect and / or identify the delivered construction material and / or initiate the opening sequence of the material package, thus further reducing the requirements for the handling process performed by the end user.

[0057] According to yet further preferred embodiments, the robotic device may include a robot and / or a mobile platform for moving the robot, the robot preferably configured in a serial kinematic arrangement. The robot may have an arm with a serial kinematic arrangement. The robot may be driven or rolled by the mobile platform along a path or line, particularly along a marking device for collecting data and / or for building wall and / or column structures. The mobile platform enhances the working envelope of the robot, thus enabling the generation of relatively large structures.

[0058] According to still further preferred embodiments, the robotic device and / or robot may have a maximum weight of less than 200 kg, preferably less than 150 kg or less than 100 kg. Thus, delivery of the robotic device and / or robot to a construction site can be performed with only little effort. In particular, the robotic device and / or robot can be easily lifted from the trunk of a car or the bed of a truck, with or without lifting equipment, by one or two people, and safely positioned on or near the construction site.

[0059] Preferably, the robot may be attachable to the mobile platform by, among other things, an end user and / or an unskilled worker and / or in a tool-less manner. The robot and the mobile platform have a modular design. Thus, operation of the robotic device by the end user may be further facilitated.

[0060] According to yet further preferred embodiments, the robotic device, in particular the robot and / or the mobile platform, may comprise a sensor device for detecting the marking device and / or a detection device for detecting the packaged material and / or material packages with or without a detection marker, whereby the degree of automation and / or autonomous operability may be further improved.

[0061] According to still further preferred embodiments, the robotic device and / or robot may be provided with an end effector configured as a gripper and / or a drive tool for driving the string, preferably for unwinding the string material and / or for driving the string material from the string package. Moreover, such a gripper may be configured to grip a solid material piece, preferably a stone, and / or the drive tool is for driving the string. Thus, the end effector may be used to grip, lift, and / or reposition the solid material piece. At the same time, the end effector may be used to grip a drive tool, the drive tool itself having a different basic functionality than the gripper itself. By providing such a gripper and a corresponding drive tool that can be operated while gripped by the gripper, the need to change the end effector during operation may be reduced or completely avoided.

[0062] According to further preferred embodiments, the robotic device and / or robot may be provided with a drive tool for driving basalt fibers and / or ropes, preferably basalt fibers and / or ropes that are resistant to temperatures above 500°C, 600°C, or 700°C, and / or that are recyclable. Thus, the rock-gravel and string composite can be a composite of basalt material only, especially without other materials, and thus highly recyclable and resistant to high temperatures during fires. Furthermore, such composites may be able to withstand years without signs of corrosion, fiber weathering, or other malfunctions.

[0063] Moreover, the robotic device and / or robot may be provided with a drive tool for driving the basalt fiber and / or basalt rope, preferably basalt fiber and / or basalt rope that is resistant to temperatures above 500° C., above 600° C., or above 700° C., and / or recyclable basalt fiber and / or basalt rope. Any construction provided by such a construction system may be particularly durable.

[0064] Moreover, it may prove beneficial if the robotic device and / or robot is provided with a drive tool for driving a string and / or basalt fiber and / or basalt rope having a thickness of between 200 tex and 1000 tex, more preferably between 300 tex and 900 tex, or between 300 tex and 600 tex, or between 600 tex and 900 tex, or between 800 tex and 950 tex, or between 500 tex and 700 tex, or between 250 tex and 350 tex, more preferably about 300 tex, 600 tex, or 900 tex. Such string and / or basalt fiber and / or basalt rope may be sufficiently lightweight for good handling purposes.

[0065] According to still further preferred embodiments, the robotic device and / or robot may be provided with and / or equipped with a drive tool for driving a string and / or basalt fiber and / or basalt rope configured to withstand a pulling force of 50 N to 500 N, more preferably a pulling force of 100 N to 300 N, more preferably a pulling force of 100 N to 200 N or a pulling force of 200 N to 300 N, or a pulling force of about 100 N, 200 N, or 300 N. Thereby, sufficient stability of a structure built by the construction system may be ensured.

[0066] According to still further preferred embodiments, the drive tool may be removable from the robot and / or gripper along with the respective string and / or string package and / or without handling by an end user or operator. Moreover, the drive tool may be attachable to the robot and / or gripper along with the respective string and / or without handling by an end user or operator.

[0067] According to a still further preferred embodiment, the robot device and / or the robot may be provided with an end effector configured as a gripper, the gripper being equipped with a set of gripper pads whose geometry is designed to grip the flange portion of the coating device by closing the gripper fingers, and / or the gripper may be configured as a hole gripper. Thereby, pick-and-place operations of the coating device can be performed with a high degree of operational safety. Also, different types of coating devices can be gripped and exchanged as needed.

[0068] Thus, the robot and / or robotic device can be connected to and / or disconnected from the unfinished construction to perform different tasks with no or only minimal tool change effort. In other words, the drive tool can be detached from the gripper and remain on the unfinished wall and / or column structure. The robotic device can then perform side tasks and / or stone handling tasks, particularly transferring stone from bins to the wall and / or column structure without any tool change in the end effector. The robotic device can reattach the drive tool to the end effector whenever needed.

[0069] According to still further preferred embodiments, the drive tool may be configured to drive and / or pull the string from the stringing device, in particular from a string package or string bag, and / or to unwind the string at a defined speed, thereby facilitating automated deployment of the string within a construction, in particular within a wall and / or column structure.

[0070] Moreover, the drive tool may be configured to detect an increase in drive force, where a significant increase in drive force may indicate that the respective string has reached an end or that the end of the string has reached an obstacle (e.g., a package opening, etc.), and therefore that the string or string device comprising the string driven by the drive tool needs to be replaced.

[0071] According to yet a further preferred embodiment, the drive tool may include a guiding portion for the string, at least one drive wheel for engaging the string to be driven, and at least a coupling portion adapted to the inner shape of the robotic gripper and configured to establish a fixed coupling with the robotic gripper by closing the fingers of the robotic gripper. Such a drive tool is particularly suitable for controlled feeding or driving of strings into construction. At the same time, the coupling portion may allow such a drive tool to be easily operated while in a gripped position between the fingers of the robotic gripper. Therefore, it is not necessary to mount such a drive tool as an end effector in the conventional manner; the drive tool itself can be held by the end effector and operated in this position.

[0072] According to an even further preferred embodiment, the construction system further includes a stringing device, which may include a string, a package for the string, and two connector end pieces attached to the ends of the string, the string being guided through a guide-through opening in the package, one of the connector end pieces being located inside the package, and / or one of the connector end pieces being located outside the package. Such a stringing device allows for easy integration of the string into a robotic device for driving the string. Such a stringing device may be attached, inter alia, to a driving tool for automated driving of the string. In addition, such a stringing device may be replaced with only little effort and with only little risk of the string becoming tangled.

[0073] According to still further preferred embodiments, the connector end pieces may be configured as magnetic end pieces and / or configured to establish a retaining connection with a connector end piece of another string, preferably with a portion of the package between two respective connector end pieces. Thus, it may not be necessary to move the respective string completely out of the package to establish a retaining connection with another string, and thus handling efforts may be reduced.

[0074] According to an even further preferred embodiment, the stringing device may further comprise a guiding device (preferably a guide-through pipe) for the string, which is attached to the package and / or extends from a guide-through opening of the package and / or extends from an outer side of the package. The guiding device may ensure reliable driving or feeding movement of the string. Moreover, such a guiding device may be attached to the package via a mounting flange. Thus, the stability of the connection between the guiding device and the package may be improved.

[0075] According to yet a further preferred embodiment, the guiding device may include an exposed portion for exposing a string guided through the guiding device, the exposed portion preferably being provided by an interruption in the guiding device and / or an opening in the guiding device. The string may be engaged by a drive tool through the exposed portion, inter alia, to drive and / or pull the string from the package. Engagement of the string by the drive tool may be facilitated and reliable drive functionality may be ensured.

[0076] According to yet further preferred embodiments, the robotic device may be configured to collect, store, and / or transmit blockchain-related data about solid material pieces embedded in the wall and / or column structures. Thus, the robotic device may be integrated into a blockchain system, thereby further improving the versatility of the construction system.

[0077] Preferably, the robot motion data can provide proof of work. The IDs of solid material pieces (e.g., stone, etc.) can be assigned by their respective manufacturers and can be unique. Any sequence associated with the material piece ID can be proof of the presence and / or location and / or demolition of the solid material piece.

[0078] In a preferred solution, an end user may be interested in proving to an untrustworthy blockchain system that they own a stone wall. This can be physical possession or proof of ownership to a virtual blockchain. The blockchain may rely on "proof of work" (also known as mining). This proof of work can be exchanged for any physical reality with another proof of work, which, in contrast to most data, may be impossible to propagate, copy, or counterfeit. In other words, physical proof of ownership may be a suitable alternative to "proof of work" if an object reveals a code during its production and only reveals it again after destruction or disassembly, and / or if the production or assembly sequence does not allow an operator or end user to be aware of any blockchain-related data collected, stored, and / or transmitted by a robotic device. Preferably, each material piece with its ID is arranged in an immovable manner (at least temporarily immovable). Proof of physical possession may thus be possible without the need to trust a human.

[0079] In a preferred solution, a robotic device can connect the cladding device by a string to a hook below a platform that is equipped with stone ID codes. The robotic device can be configured to pick a random sequence of stones and store the sequence of stone ID codes, so that when a segment is finished, the robot uses the stone ID sequence as an encryption key to encrypt the data and then deletes the stone ID code, leaving only the unencrypted sequence contained in the wall segment. This allows so-called "proof of work" or "proof of stake" to be exchanged for physical proof of ownership of the wall segment.

[0080] In a preferred embodiment, robotic device electronics and drives for each axis may be located on that respective axis, the electronics including an encryption protocol with its own secret ID, which may also be configured to analyze axis motion patterns, generate a hash key, and submit the hash key to the blockchain.

[0081] The submitted data can provide evidence both that a particular robotic device is building a wall and / or column structure and that the submitted proof of building a wall and / or column structure can result from that particular robotic device building this wall and / or column structure and not simply from someone pretending to do so.

[0082] In a preferred solution, proof of ownership of a wall and / or column structure may need to be updated after a certain period of time (e.g., after a period of five years), and the blockchain system can arbitrarily choose one segment number of the wall to be demolished by a robotic device according to the present invention. It can read the sequence of stone IDs backwards and recover at least 95% of the IDs in the correct sequence. As a result, the robotic device can prove that the entire wall has been owned for five years and that stones or solid material pieces can be applied to build new wall and / or column segments.

[0083] According to an even further preferred embodiment, the construction system may further comprise an anti-theft protection device for the robotic device, said anti-theft protection device being preferably provided by a security wire and / or the robot being configured for automated attachment and / or detachment to and / or from the anti-theft protection device, whereby the risk of the robotic device being stolen may be reduced.

[0084] Such theft prevention may be particularly relevant for robotic devices that are mobile, lightweight, and small. Due to their high cost, such robotic devices are likely targets for theft. Theft prevention may be especially important when operated near or in public places.

[0085] Preferably, the robotic device can attach itself to a security wire, which is difficult to break. Such a security wire can either be part of the marking device (e.g., a sensor wire, etc.) or maintain a fixed distance relative to it. Moreover, when the robotic device detects the marking device, it can also detect the security wire and attach the mobile platform to it.

[0086] According to a preferred solution, the robot may be configured to attach itself to a security wire, thereby allowing it to pass through a section of security wire, where the security wire itself is attached to a ground hook or the like. For this purpose, the robotic device may first attach the end of the robot arm behind the ground hook, then detach the mobile platform from the security wire, cross the ground hook, and reattach the mobile platform. In a further preferred solution, the robotic device may be configured to attach the robot and / or the robot arm directly to the ground hook.

[0087] In a more preferred solution, the security wire may be replaced by a pipe. Such a pipe may be very difficult to destroy. To prevent human accidents when the human path passes through the robot path, the security wire may not be placed across the human path. Instead, the robotic device may be configured to attach the robot or robot arm to a door or gate defined by a wall and / or column structure (which may be completed or unfinished).

[0088] In a further preferred solution, the wall and / or pillar structure may not require a door or gate. In such cases, the robotic device may be configured to detect intrusion. The gate may be replaced by a symbolic rope. A security wire may be positioned inside such a rope. The robotic device may then attach to the rope, move the rope to the other side of the respective wall or pillar, and attach itself to that side of the wall or pillar. The symbolic rope may then be closed, allowing the robot to traverse without detaching itself. In a further preferred solution, the robotic device may be configured to open the rope for a guest or resident.

[0089] The present invention has been described above as a construction system. However, the present invention also generally relates to a service system or an automation system. Accordingly, the construction system referred to herein can also generally be a service system, which is, among other things, for providing different types of services through the robotic devices. Such a service system can affect physical, ecological, and social effects and interactions throughout the boundaries of a property, site, or land parcel. The robotic devices can be configured to build, fasten, process, clean, expand, modify, dismantle, and / or rework enclosures (e.g., wall and / or column structures) made from solid material pieces (preferably stone) and strings (e.g., cords or threads). The cohesion of the stone and string composite can be essentially achieved by the so-called "packing effect," as discussed above. The surface of the composite can be provided by a refined layer of high-quality stone, which can be connected to the strings during the construction process.

[0090] A construction or service system according to the present invention may be able to autonomously purchase supply parts and materials, interact with parcel services and suppliers, and commission, unpack, store, sort, scan, and / or measure incoming goods. The owner or end user may be provided with aggregated process information regarding progress, while more detailed process decisions may be made autonomously by the construction or service system or by a service provider that may be permanently connected to the robotic device.

[0091] According to still further preferred embodiments, the robotic device is configured to perform at least one secondary task, preferably observing animal intrusions using an integrated camera system, preventing animal intrusions by providing light inside the wall and / or post structure, and / or by providing robotic device movement and / or sound. Among other things, video and / or picture materials can be prepared and / or presented to the end user, who can then decide whether the intruder is a welcome presence in the yard. The end user can also define animals as domestic parts of the household and configure the robotic device accordingly. Light, robotic movement, and / or sound inside the wall and / or post structure can be applied to train the animal not to pass through a threshold (e.g., wall and / or post structure).

[0092] According to still further preferred embodiments, the robotic device may be configured to perform secondary tasks in the form of providing humidity control for the garden by, inter alia, generating a soil moisture map, measuring soil nutrient levels, identifying plants based on their leaves, measuring light intensity, and / or continuously matching light intensity, humidity, nutrient levels, plant size, and / or plant type.

[0093] Preferably, sensors attached to the robotic device may be adapted to generate a soil moisture map along the path. Another sensor may measure light intensity. A third sensor may measure soil nutrient levels. Computer analysis may be applied to identify plants based on their leaves. The map may continuously match light intensity, humidity, nutrient levels, and plant size to plant types. From such a map, users may derive measures to optimize garden quality. The robotic device may be configured to generate and / or contribute to the generation of such a map. One goal of such a map may be to control flora on the wall and / or column structures, both intended and unintended growth. Unintended growth may be, in particular, moss and lichen. In the case of unintended growth, preventative measures may be suggested to the end user by the construction system instead of reactive solutions.

[0094] A further aspect of the present invention relates to a drive tool, preferably a drive tool for a construction or service system as described above. Accordingly, the construction or service systems as described above can be equipped with the drive tool as described below (including all different embodiments of such a drive tool).

[0095] The drive tool according to the invention can include a guiding portion for the string, at least one drive wheel for engaging the string to be driven, and at least a coupling portion adapted to the inner shape of the robotic gripper and configured to establish a fixed coupling with the robotic gripper by closing the fingers of said robotic gripper. Thus, the drive tool can be operated while gripped by the gripper, reducing or completely avoiding the need to change the end effector during operation.

[0096] According to preferred embodiments, the drive tool may further include at least one wireless functionality, and / or the at least one drive wheel may be electrically powered, preferably by a battery, and / or configured for wireless operation and / or configured to receive operation commands via a wireless connection to the robotic device and / or robot. Thus, the need for a physical data or power connection between the drive tool and the robot may be avoided, thereby improving operational reliability.

[0097] According to a preferred embodiment, the drive tool may comprise two drive wheels for engaging the string to be driven, said drive wheels preferably being arranged opposite each other to surround the string to be driven, and / or at least one of the drive wheels being provided with a tensioning device (preferably a spring) for providing a tensioning force of said drive wheel on said string, which allows a sure and reliable drive process for the string and thus can facilitate the generation of so-called jamming structures by automated equipment.

[0098] According to a further preferred embodiment, the drive tool may further include at least two body parts, preferably two body halves, configured to be moved relative to one another, inter alia, for an opening movement and / or a closing movement. The body parts may be configured to be moved relative to one another by relative movement of gripper fingers of a robot gripper. Moreover, the body parts may be configured to be locked in the open and / or closed positions, and / or at least one tensioning element may be provided to apply pretension to the body parts. The pretension may be oriented in the opening and / or closing direction of the body parts. Thereby, different operating positions of the drive tool may be realized with only little effort.

[0099] According to a further preferred embodiment, a guiding portion for the string is defined between the body parts in the closed position and / or a drive wheel is provided on each body part, whereby initial engagement of the string by the drive wheel of the drive tool can be facilitated.

[0100] A further aspect of the invention relates to a stringing device, preferably for a construction or service system and / or for a drive tool as described above. Thus, the construction or service systems described or the drive tool as described above can also be equipped with a stringing device as described hereinafter (including all different embodiments of such a stringing device).

[0101] A stringing device according to the present invention can include a string, a package for the string, and two connector end pieces attached to the ends of the string, with the string guided through a guide-through opening in the package, one of the connector end pieces being located inside the package, and / or one of the connector end pieces being located outside the package. Such a stringing device allows for easy integration of the string into a robotic device for driving and deploying the string. Such a stringing device can be attached to a driving tool, among other things, for automated driving of the string. In addition, such a stringing device can be replaced with only little effort and with only little risk of the string becoming tangled.

[0102] According to further preferred embodiments of the stringing device, the connector end pieces are configured as magnetic end pieces and / or configured to establish a retaining connection with a connector end piece of another string, preferably with a portion of the package between the two respective connector end pieces. Thus, it may not be necessary to move the respective string completely out of the package to establish a retaining connection with another string, and thus handling efforts may be reduced.

[0103] According to a further preferred embodiment, the stringing device may further comprise a guiding device for said string, preferably a guide-through pipe, which is attached to the package and / or extends from a guide-through opening of the package and / or extends from an outer side of the package and / or said guiding device is attached to the package via a mounting flange, whereby the stability of the connection between the guiding device and the package may be improved.

[0104] According to a further preferred embodiment of the stringing device, the guiding device may include an exposed portion for exposing the string guided through said guiding device, preferably provided by an interruption in said guiding device and / or an opening in said guiding device, and / or through which said string may be engaged by a drive tool, inter alia, for driving and / or pulling said string from said package. Engagement of the string by a drive tool may be facilitated and reliable drive functionality may be ensured.

[0105] According to a further preferred embodiment, the stringing device may further comprise a mounting portion for attachment of a drive tool, the mounting portion preferably being configured as a platform device and / or the mounting portion and the guiding device being fixedly attached to each other and / or being provided as an integral component. In particular, the mounting portion may support two separate parts of the guiding device. An exposed portion may be provided between these two separate parts of the guiding device.

[0106] According to a further preferred embodiment, the stringing device may further comprise an identification device for identification of the package, the string, the guiding device and / or the attachment part and / or the position and / or orientation of the guiding device and / or the attachment part and / or the identification device is provided on the attachment part and / or the guiding device, which may enhance automation, in particular the automated handling and string drive process.

[0107] According to a further preferred embodiment, the connector end piece can have a size and / or diameter larger than the string and / or the guide-through opening of the package and / or the guide-through opening of the guiding device. The connector end piece disposed inside the package can be configured to be blocked in the guide-through opening of the package and / or the guide-through opening of the guiding device. Thus, the string can remain connected to the package even at the end of the driving process. Moreover, the connector end piece disposed outside the package can be fixedly disposed at the distal end of the guiding device, preferably by press-fitting. This can prevent unintentional removal or displacement of the connector end piece.

[0108] According to further preferred embodiments, the package, the guiding device, and / or the attachment portion may be made of degradable materials and / or may be degradable within a time period of more than one year, preferably more than three or more than five years. Thus, the package and / or the guiding device may remain in the final construction (e.g., wall and / or column structure, etc.) and degrade over time. Overall handling and string deployment may be facilitated.

[0109] A further aspect of the invention relates to a robotic device, preferably a robotic device for a construction system according to the above description, comprising a robot with a gripper and a drive tool according to the above description and / or a stringing device according to the above description.

[0110] A further aspect of the invention relates to a robotic device, preferably a robotic device for a construction system according to the above description, configured to build a wall and / or column structure by means of support portions and covering portions for covering the support portions, the support portions being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portions comprising at least one covering device, the string and the covering device being attached to each other.

[0111] A further aspect of the invention relates to a planning and / or operating device, preferably a smartphone and / or tablet, comprising an application for planning the course and / or size of the wall and / or column structure to be erected, for receiving data from the robotic device, and / or for initiating the purchase and / or delivery of construction materials and / or equipment. Such a planning and / or operating device can be part of the construction system described above.

[0112] A further aspect of the present invention relates to a method for operation of a construction system, preferably according to the above description, comprising at least the steps of laying out marker devices for defining the contours and / or positions of wall and / or column structures to be constructed, installing a robotic device near and / or at the marker devices, and building the wall and / or column structures along and / or at the marker devices.

[0113] According to a preferred embodiment of the method, functional markers are placed subsequent to laying out the marking devices.

[0114] According to a further preferred embodiment of the method, the robotic device is delivered and / or activated, inter alia, subsequent to laying out the marking devices or prior to laying out the marking devices.

[0115] According to a further preferred embodiment of the method, the robotic device follows the marking device and generates a map, inter alia, before constructing the wall and / or pillar structure.

[0116] According to a further preferred embodiment of the method, the robotic device inter alia scans and models the environment during and / or in parallel with the generation of the map.

[0117] According to a further preferred embodiment of the method, an evaluation of data generated by a robotic device is performed, in particular a manual and / or automated data evaluation is performed.

[0118] According to a further preferred embodiment of the method, the material packages and / or construction materials are detected by a robotic device.

[0119] According to a further preferred embodiment of the method, a storage area for material packages and / or construction materials is enclosed.

[0120] Details and / or advantages described above with respect to the construction system equally apply to the method for operating the construction system described above, and details and / or advantages described above with respect to the drive tool, stringing device, robotic device and / or planning and / or operating device equally apply to the construction system equipped accordingly.

[0121] A further aspect of the invention relates to a construction (in particular a wall and / or column structure) comprising solid material pieces and strings for packing said solid material pieces, at least some of which are made from basalt and / or are covered at least in cross section by basalt material.

[0122] A further aspect of the invention relates to a construction (in particular a wall and / or column structure) comprising a support portion and a covering portion for covering the support portion, the support portion being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portion comprising at least one covering device, the string and the covering device being attached to each other, and the support portion and / or the covering portion comprising basalt material and / or dunite and / or olivine material.

[0123] According to a preferred embodiment, the plurality of solid material pieces and / or the covering device are made from basalt and / or dunite and / or olivine material and / or are covered by basalt and / or dunite and / or olivine material and / or are exposed to air and / or the basalt and / or dunite and / or olivine material is exposed to weathering and / or is configured to weather away carbon dioxide from the atmosphere.

[0124] According to a preferred embodiment, at least some of the solid material pieces and / or the coating device of the coating portion are covered with powder of basalt and / or dunite and / or olivine material and / or microparticles of basalt and / or dunite and / or olivine material are exposed to the atmosphere for enhanced weathering.

[0125] According to a preferred embodiment, the basalt powder and / or dunite and / or olivine powder may have a particle size of more than 5 micrometers, more than 10 micrometers, more than 15 micrometers, more than 17.5 micrometers, or more than 20 micrometers. Furthermore, the basalt powder and / or dunite and / or olivine powder may have a particle size of less than 50 micrometers, less than 40 micrometers, less than 30 micrometers, less than 25 micrometers, or less than 22.5 micrometers. The optimal particle size of the basalt powder and / or dunite and / or olivine powder may be 20 micrometers or about 20 micrometers. The size may refer to the average size of the powder material.

[0126] According to a preferred embodiment, the basalt powder and / or dunite and / or olivine material may be attached to the solid material piece and / or coating device of the coating portion by means of a slurry and / or gel and / or adhesive material.

[0127] According to a preferred embodiment, the slurry and / or gel and / or adhesive material is permeable to air and / or is configured to dissolve, preferably in a time frame between 6 and 18 months, preferably about 12 months, so that weathering of the basalt material can be unaffected.

[0128] According to a further preferred embodiment, the basalt powder or dunite or olivine powder material may be formed into particles of at least 0.5 mm in size, preferably greater than 1 mm, or greater than 3 mm, or greater than 5 mm and / or less than 10 mm in size, which particles may be disposed in the support part and / or the covering part.

[0129] Moreover, it may be beneficial if the support part and / or the covering part and / or the top cover part comprise at least one pipe, a filling opening and / or a tank for filling rock particles (preferably crushed rock particles) and / or a slurry and / or gel and / or adhesive material with rock material, more preferably a tank for filling rock particles from basalt and / or dunite and / or olivine.

[0130] Moreover, at least one pipe, filling opening, and / or tank may be configured to fill rock particles in an upper portion of the support portion and / or covering portion and / or top cover portion, and / or to distribute rock particles throughout the support portion and / or covering portion by a stream of liquid (preferably water).

[0131] It may also be beneficial if the support portion and / or covering portion includes filter and / or removal openings for filtering and / or removing rock particles (especially weathered rock particles) in lower portions of the support portion and / or covering portion, in particular for removing weathered rock particles from the wastewater.

[0132] According to a further preferred embodiment, at least one sensor may be provided (preferably arranged) in the support part and / or the covering part, said sensor being configured to detect the weathering state of the rock particles.

[0133] Thus, crushed rock particles containing basalt and / or dunite or olivine can be inserted into the support and / or covering at the upper side of the construction and then distributed throughout the support and / or covering by a water stream from above, allowing the particles to fill the spaces in the covering without preventing fresh air from passing through the covering.

[0134] During a certain period of time (for example, one or three years), the particles can begin to dissolve, allowing the weathering of basalt or dunite or olivine or other materials, and all residues can be washed through the covering. After said period of time, the particles can be removed by collecting them in the lower part of the construction by applying a filter that removes these particles from the drainage.

[0135] In a preferred solution, particle dissolution can be achieved or enhanced through the application of charcoal. Charcoal and rock powder can be mixed, for example, in a 1:1 ratio and then compressed under pressure and heat to form the final particle shape. Such particles can be placed in the support and / or coating parts.

[0136] In another suitable solution, particle dissolution can be achieved and / or maintained at a desired rate through the application of wood pellets. Rock powder can be added to the wood during pellet production. The natural lining inside the wood can glue the pellets together and prevent rapid dissolution. An advantage of applying charcoal or wood inside the particles is that both can be natural sources of carbon dioxide during their own weathering process. Thus, the rock powder can be surrounded by a natural emitter of carbon dioxide.

[0137] A further aspect of the invention relates to a construction (in particular a wall and / or column structure) comprising solid material pieces and strings for packing said solid material pieces, at least some of which are made from basalt and / or are covered at least in cross section by basalt material and / or dunite and / or olivine material.

[0138] A further aspect of the invention relates to a construction (in particular a wall and / or column structure) comprising a support portion and a covering portion for covering the support portion, the support portion being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portion comprising at least one covering device, the string and the covering device being attached to each other, and the support portion and / or the covering portion comprising basalt material and / or dunite and / or olivine material.

[0139] Moreover, the construction system according to the present invention may be configured to provide and / or produce a construction according to any one of the above mentioned configurations.

[0140] A further aspect of the invention relates to a method for repairing a construction according to the above description, the method comprising the step of frequently and / or periodically applying a basalt material and / or dunite and / or olivine material to the solid material piece and / or the covering device of the covering part.

[0141] A further aspect of the invention relates to a method for repairing a construction according to the above description, the method comprising the step of frequently and / or periodically applying a basalt material to the solid material piece and / or the covering device of the covering part.

[0142] In the following, features and advantages of various embodiments of the present invention will be described with reference to the figures. [Brief explanation of the drawings]

[0143] [Figure 1] 1 is a schematic plan view of a marking device and an adjacent construction according to an embodiment of the present invention; [Figure 2] FIG. 1 is a side view of a robotic device according to an embodiment of the present invention. [Figure 3] FIG. 1 is a schematic diagram of a gripper of a robotic device according to an embodiment of the present invention. [Figure 4]FIG. 4 is a schematic side view of the gripper of FIG. 3. [Figure 5] 1 is a schematic diagram of a drive tool according to an embodiment of the present invention. [Figure 6] FIG. 1 is a schematic diagram of a stringing device according to an embodiment of the present invention. [Figure 7] FIG. 7 is a schematic diagram of the string device of FIG. 6 placed in a vertical position. [Figure 8] FIG. 7 is a schematic diagram of the stringing device of FIG. 6 placed in a vertical position with a drive tool attached. [Figure 9] FIG. 5 is a schematic diagram of the gripper of FIGS. 3 and 4 with a drive tool and string bag positioned between the gripper fingers. [Figure 10] 1 is a schematic flow diagram of a method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0144] The top of Figure 1 shows a schematic plan view of a building 10 according to an embodiment of the present invention. The building 10 can be, inter alia, a wall or a column, or any other type of architectural structure.

[0145] The construction 10 includes a support portion 12 and a covering portion 14 for covering the support portion 12. The support portion 12 may be provided by solid material pieces 16 and at least one string 18 for packing at least some of the solid material pieces 16. The covering portion 14 includes at least one covering device 20, preferably multiple covering devices 20. The string 18 and the covering device 20 are attached to each other, as will be described in more detail below.

[0146] The covering portion 14 is disposed around the support portion 12 on multiple sides of the support portion 12. In particular, the covering portion is disposed around the support portion 12 on vertically extending sides. The covering portion 14 can provide a mold for the support portion 12, and in particular can provide a mold for the composite of the solid material piece 16 and string 18 of the support portion 12.

[0147] It can be seen from FIG. 1 that the covering device 20 is larger than the solid material pieces 16 and can be made of a different material and / or have a different optical appearance than at least some of the solid material pieces 16 of the support structure 12. The solid material pieces 16 can be provided as, inter alia, crushed rock, angular rock, granular stone material and / or crushed stone. The solid material pieces 16 can also be made from and / or contain glass material and / or glass gravel and / or glass chippings. The solid material pieces 16 can preferably be packed and / or stamped and / or compressed to increase the packing effect.

[0148] 1, the strings 18 may be placed at least cross-sectionally and / or loosely, preferably to increase the compaction effect and / or at least cross-sectionally tightened, within and / or throughout the support portion 12 and / or between the solid material pieces 16. The strings 18 may be arranged in a pattern that alternates between the central area 22 of the support portion 12 and the different covering devices 20.

[0149] The solid material pieces 16 of the support part 12 can be compressed and / or stamped against the covering part 14 and / or against the covering device 20 and / or while being held and / or restricted by the covering device 20. At the same time, the covering part 14 can allow the solid material pieces 16 to shift and / or move. Moreover, the covering part 14 and / or the covering device 20 can be fixed and / or held by the support part 12, preferably by the compressed and / or stamped and / or packed solid material pieces 16 and / or by the strings 18, in particular by a composite made from the solid material pieces 16 and the strings 18.

[0150] The covering device 20 can be made of and / or can include stone and / or glass and / or metal materials. At least one covering device 20 can include a visible side 24 facing away from the support portion 12 and, in addition, a functional side 26 facing the support portion 12. The string 18 is attached to the covering device 20 at the functional side 26.

[0151] Attachment between the string 18 and the at least one covering device 20 can be provided via a form-fit and / or non-positive connection and / or via adhesive. The covering device 20 can include at least one exterior component 28 and an attachment element 30 for attachment to the string 18. The attachment element 30 can be provided on the functional side 26, while the visible side 24 faces away from the attachment element 30. The attachment element 30 can be configured as a hook and / or eye and / or notch to which the string 18 is attached and / or hooked.

[0152] The bottom of Figure 1 shows a marking device 32 for defining the course, form, and / or location of a construction 10 (e.g., a wall and / or column structure, etc.). Such a marking device 32 can be, for example, a sensor wire or cord or strap or belt, and can be purchased by an end user and laid out on private property.

[0153] The marking device 32 may be equipped with a measuring scale (not shown here), which may be detected by a human and / or a robotic device 34, as shown in Figure 2 and discussed in more detail below. The marking device 32 and the robotic device 34 may constitute a construction system in the sense of the present invention.

[0154] The marking device 32 may further include a start marker 36 for defining the start point and / or position of the wall and / or pillar structure. Additionally, the marking device 32 may include an end marker 38 for defining the end point and / or position of the wall and / or pillar structure. The markers 36 and 38 may be installed on the marking device 32 and may be read by a human and / or a robotic device 34.

[0155] 1, a platform 40 may be provided adjacent to the marking device 32. The platform 40 may be connected to the marking device 32 and may include multiple platform elements 42. The platform 40 may provide a driving and / or rolling surface for the robotic device 34 and may protect the wheels of the robotic device 34 from the muddy subsurface when the robotic device requires multiple passes, so the subsurface is not stressed.

[0156] Additionally, the platform 40 can include a storage section 44 for storing construction materials (e.g., the covering devices 20, etc.). The storage section 44 can be as long as the marking device 32 and / or as long as the construction 10 to be erected, so that many material pieces (e.g., stones or covering devices 20, etc.) can be simultaneously accessible to the robotic device 34 and can be selected according to parameters such as shape, transparency, color, and / or center of gravity. If the stones feature hooks as assembly locations, such as in the case of the covering device 20, the hooks should be allowed to be attached to fixed and / or specific positions on the storage section 44.

[0157] 2 shows a side view of a robotic device 34 according to an embodiment of the present invention. The robotic device 34 may include a mobile platform 46 and a robot 48. The robot 48 may be configured in a serial kinematic arrangement and equipped with an end effector 50. The end effector may be configured as a gripper 52, as discussed in more detail below with reference to FIGS. 3 and 4.

[0158] The robot 48 may be disposed on a mobile platform 46 so as to be moved along a path. The mobile platform 46 may be equipped with wheels 54, which may be driven wheels and / or non-driven wheels. Moreover, the mobile platform 46 may include and / or be connected to an extension or trailer 56. The mobile platform may also include a sensor device 47 for detecting at least the marking device 32.

[0159] The mobile platform 46 may furthermore be equipped with one or more containers 58, 60, and 62. The container 58 may be a storage box for weather protection, in particular for the robot 48. In case of rain, the robot 48 may move itself and / or its arms into the container 58, which may then be closed. The containers 60 and 62 may be storage containers for construction materials (such as, for example, the solid material pieces 16 and / or the covering device 20). Furthermore, a stringing device (which will be discussed in more detail below) may be located on the trailer 56.

[0160] FIG. 3 shows a schematic diagram of the gripper 52 of the robotic device 34 according to an embodiment of the present invention, and FIG. 4 shows a schematic side view of the gripper 52 of FIG. 3. The gripper 52 includes a robot flange 64 for connecting the gripper to the robot 48. The gripper 52 further includes a housing 66 and two gripper fingers 68. The gripper fingers 68 include a gripping portion 70, which may have the form of a gripper hand. The gripping portion 70 may include a recess 72, which may enable gripping of multiple stone or solid material pieces from the container 60 or 62. The recess 72 may also be adapted to grip a single larger stone from the container 60 or 62 (e.g., the coating device 20 for the coating portion 14).

[0161] Additionally, the gripping portion 70 can include a connecting section 74 for coupling with a drive tool 76, which is discussed in more detail with reference to FIG. 5 . The drive tool 76 can have a cylindrical overall configuration to fit into the connecting section 74. Among other things, the drive tool 76 can have a connecting portion 78 for coupling with the connecting section 74 of the gripping portion 70. Additionally, the drive tool 76 includes a guiding portion 80 for a string. The guiding portion 80 can be a hole or opening between two body halves 82. The body halves 82 can be moved relative to each other or can be moved for opening and / or closing operations.

[0162] The drive tool 76 also includes a drive wheel 84, which may be urged together by a tensioning element 86 (e.g., a spring, etc.). The drive wheel 84 may be connected to an electric motor. The drive tool 76 may be configured for wireless operation. It may include a battery and wireless communication components for interaction with the robot 48 and / or robotic device 34. Thus, commands for activating the drive wheel 84 and for laying out the string may be submitted via wireless communication.

[0163] 6 shows a schematic diagram of a stringing device 88 according to an embodiment of the present invention. The stringing device 88 may include a string 90, a package 92 for the string 90, and two connector end pieces 94 and 96 attached to the ends of the string 90. The string 90 may be rolled and / or folded into the package 92. The package 92 may be palm-sized.

[0164] The string 90 may be guided through a guide-through opening 98 in the package 92, the connector end piece 94 may be located within the package 92, and the connector end piece 96 may be located outside the package 92. The package 92 may be a bag or may be made from a thin layer material.

[0165] The connector end pieces 94 and 96 may each include a strong magnet, so that a string 90 of one stringing device 88 can be connected to another string 90 of another stringing device 88 to form a string of any length.

[0166] The stringing device 88 may further include a guiding device 100 (preferably a guide-through pipe) for the string 90, which is attached to the package 92 and / or extends from a guide-through opening 98 in the package 92. The guiding device 100 may be attached to the package 92 via a mounting flange 102.

[0167] The connector end piece 94 may be larger than the guiding device 100 and / or the opening 98 to prevent the string 90 from being completely removed. In a preferred solution, the end of the guiding device 100 includes a nozzle for guiding the string out of the guiding device 100. In another preferred solution, the connector end piece 96 is securely positioned in front of the guiding device 100, e.g., by a press fit, to prevent unintentional removal. The guiding device 100 includes an exposed portion 104 exposing the string 90. The string 90 may be engaged by the drive tool 76 via the exposed portion 104. The drive tool 76 may drive and / or pull the string 90 from the package 92 at a defined speed.

[0168] Moreover, the stringing device 88 can include a mounting portion 106 for attachment of the drive tool 76, which is preferably configured as a platform device, and / or the mounting portion 106 and the guiding device 100 are fixedly attached to one another and / or provided as an integral component. An identification device 108 can be provided to identify the stringing device 88 and / or the guiding device 100 and their corresponding position and orientation. The identification device can be disposed on the mounting portion 106.

[0169] As the string 90 is pulled from the package 92, the connector end piece 94 becomes obstructed at the access point and / or at the opening 98 for the guiding device 100. The drive tool 76 detects that the string 90 has stopped by sensing force or motion. The robot 48 can then remove the drive tool 76 from the guiding device 100 and / or from the mounting portion 106, leaving the empty package 92 on the unfinished construction structure. The robot 48 can then grab a new stringing device 88 from the storage bin or container 60 or 62 and attach the drive tool 76 to the new stringing device 88. To do so, the robot 48 can first randomly grab any stringing device 88 from the bin or container 60 or 62. Thereafter, the mounting portion 106 of the stringing device 88 and / or the guiding device 100 can be vertically positioned within a clamping or holding device 110, as shown in FIG. 7 . The robot 48 can then disengage from the stringing device 88. Now, the identification device 108 can be scanned and the robot 48 can attach the drive tool 76 as shown in FIG.

[0170] To connect the new stringing device 88 to the old one, the robot 48 can grasp the new stringing device 88 and / or the drive tool 76 on the clamping device 110. Through this, the position and orientation of the connector end piece 96 in front of the guiding device 100 are determined. Sensors are applied to detect the empty stringing package 92 and / or the guiding device 100 of the used stringing device 88. By identifying the identification device 108, the orientation of the connector 94 inside the old package 92 can be calculated. Here, the robot simply moves the connector end piece 96 of the new stringing device to the connector end piece 94 inside the old package 92, and a magnetic effect attaches both connector end pieces 94 and 96 together, with the packaging material between them. The old package 92 and the old guiding device 100 can remain on and / or in the construction and can become covered with stone material. In a preferred solution, the package 92 and guiding device 100 are made of degradable materials and can remain for several years.

[0171] 9 shows a side view of the gripper 52 with the string device 88 grasped by the drive tool 76. The drive tool 76 is precision mounted to the gripper 52, with the package 92 positioned within the recesses 72 of the gripper fingers 68.

[0172] 10 shows a schematic flow diagram of a method according to an embodiment of the present invention. The method according to this embodiment may include one or more of the following steps 200 to 390:

[0173] In a first step 200, a user can download and / or install an application onto their smartphone or tablet.

[0174] In step 210, the user can visualize the walls as a draft. In step 220, the user can order a starter package.

[0175] In step 230, the user can select a robotic device 34 from the application. The robotic device 34 can be purchased, rented, or shared.

[0176] In step 240, a package may be delivered. Such a package may contain the robot 48 and / or mobile platform 46, the marking device 32, such as a sensor wire, for example, about 20 meters of sensor wire, a plurality of predefined markers, and / or a plurality of user-defined markers, among other things.

[0177] In step 250, the marking device 32 may be installed locally, for example, in a front yard or on private property.

[0178] In step 260, the robotic device 34 can be installed. For installation, setup can be continued, a connection to a WLAN can be established, and charging of the robot battery can be performed. Additionally, two boards can be stored on wheels 54 to establish a mobile platform 46 with a trailer 56.

[0179] In step 270, the robotic device 34 may be connected to the marking device 32 for activation or placed in sensing connection with the marking device 32.

[0180] In step 280, the construction draft may be updated. The robotic device 34 may follow the marking device 32 and measure the distance. The construction map (e.g., a map of walls or pillars) may be updated, and the cost plan may be updated. The robotic device may also scan the construction ground and update the ground map.

[0181] The location of the large bag may be flagged in step 290. The robotic device 34 may set a flag for the precise location of the bag, and the location of the large bag may be updated on the map.

[0182] In step 300, the user can confirm and order the wall and / or column structure and / or components and materials therefor. Cost and construction plans can be identified, maps can be updated, and the user can confirm that the big bag location can be reached by crane from public and / or private streets or roads.

[0183] In step 310, the user can order materials. Ordering of materials and parts can be performed to build a storage area. Additionally, the user can order large bags containing materials for the supporting portion of the wall and / or column structure (inner composite), and can also order large bags containing materials for the covering portion of the wall and / or column structure (outer composite).

[0184] In step 320, the material can be delivered. A crane operator can place the big bag and sensors on the robotic device 34 can confirm its arrival. The robotic device 34 can scan the bag location and accept the delivery.

[0185] In step 330, a storage area for the stringing device 88 may be constructed. The robotic device 34 can use the stringing device 88 from the mobile platform 46 and construct a wall and / or column structure flush with the mobile platform 46. The outer complex is optional and is not required for the storage area.

[0186] In step 340, stringing devices 88 may be ordered, particularly in bulk quantities.

[0187] In step 350, the stringing device 88 may be delivered. The postal service may deliver the stringing device 88, and the robotic device 34 may wait for delivery of the stringing device. Sensors may track the package location, and the robotic device may communicate with the parcel carrier and place the stringing device 88 on a rollboard on the mobile platform 46 or trailer 56.

[0188] In step 360, the stringing device 88 is stored. The big bag with the string roll 88 may be heavier than the robotic device payload. The mobile platform 46 and / or trailer 56 may be positioned next to the storage area, and the robotic device 34 may push and / or pull the big bag onto the mobile platform 46 and / or trailer 56 for further use.

[0189] In step 370, all necessary materials are made available and / or commissioned. String materials as well as solid material pieces (stones) and covering devices are available, among other things, in big bags.

[0190] In step 370a, the material for the supporting part 12 (inner complex) of the construction is placed on the mobile platform 46 or trailer 56. A shovel tool can be applied to load small stones from large bags into boxes on the mobile platform 46 or trailer 56. Stones up to 200 kg can be stored on the mobile platform 46 or trailer 56.

[0191] In step 370b, the material for the coating portion 14 (outer composite) is placed along the marking device 32. Stones or coating devices 20 are grabbed from a large bag using a gripper and camera system. The ID of each stone or coating device 20 is read and the data is retrieved from the cloud. If not available, each stone or coating device 20 is scanned. This can be repeated with multiple stones or coating devices 20, which are positioned along the marking device 32 at predefined locations.

[0192] In step 370c, a stringing device 88 is grabbed from the string storage and attached to the drive tool 76 to allow winding or unwinding of a respective string 90.

[0193] In step 380, commissioning is completed.

[0194] In step 390, the construction 10 (particularly the wall and / or column structure) may be constructed. The construction 10 may be built in segments. [Explanation of symbols]

[0195] 10 Constructions 12 Support part 14 Covered part 16 solid material pieces 18 strings 20 Covered Device 22 Central Area 24 Visible Side 26 Functional Side 28 Outer Components 30 Mounting Elements 32 Marking Device 34 Robotic Devices 36 Start Marker 38 End Marker 40 Platform 42 Platform Elements 44 Storage Section 46 Mobile Platform 47 Sensor Devices 48 Robot 50 End Effector 52 Gripper 54 Wheels 56 Trailer 58 Container 60 containers 62 containers 64 Robot flange 66 Housing 68 Gripper Fingers 70 Gripping part 72 recess 74 Connected Section 76 Drive Tools 78 Connecting part 80 Guiding part 82 Main body half 84 Drive Wheel 86 Tensioning element 88 String Device 90 strings 92 packages 94 Connector end piece 96 Connector end piece 98 Guide-through opening 100 Guiding Device 102 Mounting flange 104 Exposed part 106 Mounting part 108 Identification Devices 110 Clamping Device

Claims

1. A construction system, particularly a construction system for operation by an end user, said construction system comprising: a robotic device configured to construct a wall and / or column structure; at least one marking device for defining the course, form, and / or position of the wall and / or column structure; Including, the marking device is detectable by the robotic device, the robotic device being configured to construct a wall and / or column structure at and / or along the marking device; the robotic device is configured to build a wall and / or column structure with support portions and covering portions for covering the support portions, the support portions being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portions including at least one covering device, and the robotic device is configured to attach the string to the at least one covering device; Construction system.

2. said marking device being configured as and / or including an elongated and / or flexible device and / or configured to be laid out by an end user along the intended course and / or location of the wall and / or column structure; The construction system of claim 1 .

3. the marking device is configured as and / or includes a wire, cord, tape, belt, or sensor wire that is detectable by a sensor of the robotic device; and / or the marking device includes a measuring scale detectable by the robotic device and / or by operating personnel; A construction system according to claim 1 or 2.

4. the marking device includes at least a start marker for marking the start of a wall structure and / or the position of a column structure to be constructed, and / or an end marker for marking the end of a wall structure and / or the position of a column structure to be constructed; A construction system according to any one of claims 1 to 3.

5. said marking device comprises a feature marker for marking the position of features and / or extensions and / or interruptions or gaps in the wall and / or column structure to be erected, and / or the marking device comprises a storage marker for marking the location of a material storage for construction material; and / or the marking device comprises a supply marker for marking the position of a power and / or water supply connection; A construction system according to any one of claims 1 to 4.

6. the construction system further includes a platform that provides a drive and / or rolling surface for the robotic device; and / or the platform is in communication with the marking device; and / or the platform includes a storage section for storing construction materials; and / or the platform comprises at least one elevation ramp and / or elevation element for providing a driving surface and / or a rolling surface at the elevated level, in particular at the elevated level for at least one further platform element; A construction system according to any one of claims 1 to 5.

7. The construction system further comprises a delivery marking device for marking a construction material and / or construction equipment delivery zone; and / or the shipping marking device is detectable by a shipping truck and / or shipping equipment; A construction system according to any one of claims 1 to 6.

8. the robotic device is configured to construct a wall and / or column structure from solid material pieces and strings for packing the solid material pieces; A construction system according to any one of claims 1 to 7.

9. the robotic device is configured to be operated and / or initialized by an end user without programming knowledge and / or by an unskilled worker; and / or the robotic device is configured for autonomous operation and / or is configured as a mobile autonomous robotic device; A construction system according to any one of claims 1 to 8.

10. the robotic device is configured to follow the marking device and to read the markers; A construction system according to any one of claims 1 to 9.

11. a 3D model and / or picture of the ground for the wall and / or column structure to be constructed is submitted to a provider and / or cloud for data analysis; The construction system of claim 10.

12. The construction system further includes an ordering device for ordering construction materials based on the data collected and / or further analyzed by the robotic device; and / or the robotic device is configured to detect and / or identify delivered construction materials and / or initiate an opening sequence for the material package; A construction system according to any one of claims 1 to 11.

13. The robotic device includes a robot configured in a serial kinematic arrangement and / or a mobile platform for moving the robot; and / or the robotic device and / or the robot has a maximum weight of less than 200 kg; and / or the robot is attachable to the mobile platform, in particular by an end user and / or by an unskilled worker and / or in a tool-less manner; and / or The robot and the mobile platform have a modular design. A construction system according to any one of claims 1 to 12.

14. said robotic device, in particular a robot and / or a mobile platform, comprising a sensor device for detecting said marking device and / or a detection device for detecting packaged material and / or material packages with or without a detection marker, A construction system according to any one of claims 1 to 13.

15. the robotic device and / or robot is provided with an end effector configured as a gripper and / or with a drive tool for driving the string, and / or the gripper is configured to grip a solid piece of material, and / or the drive tool is for driving a string, and / or The gripper is electrically operated. A construction system according to any one of claims 1 to 14.

16. the robotic device and / or robot is provided with a drive tool for driving basalt fibers and / or basalt ropes and / or is equipped with said basalt fibers and / or basalt ropes, A construction system according to any one of claims 1 to 15.

17. the robotic device and / or robot is provided with a drive tool for driving a string and / or a basalt fiber and / or a basalt rope having a fineness between 200 tex and 1000 tex and / or is equipped with said string and / or a basalt fiber and / or a basalt rope, A construction system according to any one of claims 1 to 16.

18. the robotic device and / or robot is provided with a drive tool for driving a string and / or basalt fiber and / or basalt rope configured to withstand a pulling force of 50N to 500N and / or is equipped with said string and / or basalt fiber and / or basalt rope, 18. A construction system according to any one of claims 1 to 17.

19. the drive tool is removable from the robot and / or gripper together with the respective string and / or string package and / or without handling by an end user or operator; and / or the drive tool is attachable to the robot and / or gripper with the respective string and / or without handling by an end user or operator; A construction system according to any one of claims 15 to 18.

20. the robotic device and / or the robot is provided with an end effector configured as a gripper, the gripper having a set of gripper pads whose geometry is designed to grip the coated device by closing gripper fingers; and / or The gripper is configured as a hole gripper.

20. A construction system according to any one of claims 15 to 19.

21. the drive tool is configured to drive and / or pull the string from the stringing device and / or to unwind the string at a prescribed speed; A construction system according to any one of claims 15 to 20.

22. the drive tool includes a guiding portion for the string, at least one drive wheel for engaging the string to be driven, and at least a coupling portion adapted to the inner shape of the gripper and configured to establish a fixed coupling with the gripper by closing the fingers of the gripper; 22. A construction system according to any one of claims 15 to 21.

23. The construction system further includes a stringing device, the stringing device including a string, a package for the string, and two connector end pieces attached to ends of the string, the string being guided through a guide-through opening in the package, one of the connector end pieces being disposed within the package, and the other of the connector end pieces being disposed outside the package.

23. A construction system according to any one of claims 1 to 22.

24. the connector end piece is configured as a magnetic end piece and / or configured to establish a retaining connection with the connector end piece of another string; and / or a guiding device for the string attached to the package and / or extending from the guide-through opening of the package and / or extending from an outer side of the package; and / or the guiding device is attached to the package via a mounting flange; 24. The construction system of claim 23.

25. the guiding device includes an exposed portion for exposing a string guided through the guiding device; and / or The string can be engaged by a drive tool through the exposed portion.

25. The construction system of claim 24.

26. The construction system further includes an anti-theft protection device for the robotic device; and / or the robot is configured for automated attachment to and / or detachment from the anti-theft protection device; 26. A construction system according to any one of claims 1 to 25.

27. The robotic device is configured to perform at least the following secondary tasks: observing animal intrusion using an integrated camera system; preventing animal intrusion by providing light inside the wall and / or column structure and / or by providing movement and / or sound of the robotic device; providing humidity control for a garden; measuring soil nutrient levels; identifying plants based on their leaves; measuring light intensity; and / or continuously matching light intensity, humidity, nutrient levels, plant size, and / or plant type.

27. A construction system according to any one of claims 1 to 26.

28. 28. A drive tool for a construction system according to any one of claims 1 to 27, comprising a guiding portion for a string, at least one drive wheel for engaging the string to be driven, and at least a coupling portion, the coupling portion adapted to the inner shape of the gripper and configured to establish a fixed coupling with the gripper by closing the fingers of the gripper.

29. The drive tool further includes at least one wireless functionality; and / or the at least one drive wheel is electrically powered and / or configured for wireless operation and / or configured to receive operation commands via a wireless connection to a robotic device and / or robot; 29. The drive tool of claim 28.

30. the drive tool includes two drive wheels for engaging the string to be driven, the drive wheels being disposed on opposite sides of each other to surround the string to be driven; 30. A drive tool according to claim 28 or 29.

31. the drive tool includes at least two body parts configured to be moved relative to one another, the body parts being configured to be moved relative to one another by relative movement of gripper fingers; and / or The body parts are configured to be locked in an open and / or closed position. A drive tool according to any one of claims 28 to 30.

32. the guiding portion for the string is defined between the body parts in the closed position, and / or a drive wheel is provided on each body part; 32. The drive tool of claim 31.

33. A stringing device for a construction system according to any one of claims 1 to 27, and / or 33. A stringing device for a drive tool according to any one of claims 28 to 32, comprising a string, a package for the string, and two connector end pieces attached to ends of the string, the string being guided through guide-through openings in the package, one of the connector end pieces being located within the package and / or one of the connector end pieces being located outside the package.

34. the connector end piece is configured as a magnetic end piece and / or configured to establish a retaining connection with the connector end piece of another string; 34. The stringing device of claim 33.

35. the stringing device further includes a guiding device for the string, the guiding device being attached to the package and / or extending from the guide-through opening of the package and / or extending from an outer side of the package; and / or the guiding device is attached to the package via a mounting flange; 35. A stringing device according to claim 33 or 34.

36. the guiding device includes an exposed portion for exposing the string guided through the guiding device, the exposed portion being provided by an interruption in the guiding device and / or an opening in the guiding device; 36. The stringing device of claim 35.

37. The string device further includes an identification device for identifying the package and / or the string.

37. A stringing device according to any one of claims 33 to 36.

38. the connector end piece has a larger size and / or diameter than the string, and / or a larger size and / or diameter than the guide-through opening of the package, and / or The connector end piece disposed within the package is configured to be obstructed in the guide-through opening of the package.

38. A stringing device according to any one of claims 33 to 37.

39. The package is made from a degradable material and / or may be degradable within one year or more.

39. A stringing device according to any one of claims 33 to 38.

40. A robotic device for a construction system as claimed in any one of claims 1 to 27, said robotic device including a robot, said robot having a gripper and a drive tool as claimed in any one of claims 28 to 32, and / or a string device as claimed in any one of claims 33 to 39.

41. A robotic device for a construction system as defined in any one of claims 1 to 27, wherein the robotic device is configured to construct a wall and / or column structure by means of support portions and covering portions for covering the support portions, the support portions being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, the covering portions including at least one covering device, the string and the covering device being attached to each other.

42. 28. A method for operation of a construction system according to any one of claims 1 to 27, said method comprising at least - laying out marking devices to define the contours and / or positions of the wall and / or column structures to be built; - placing a robotic device near and / or at said marking device; - building a wall and / or column structure along and / or at said marking device; Including, the robotic device constructs a wall and / or column structure with support portions and covering portions for covering the support portions, the support portions being provided by solid material pieces and at least one string for packing at least some of the solid material pieces, and the covering portions including at least one covering device; The robotic device attaches the string to the at least one coating device.

Images