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EP4567222A1 - Procédé mis en uvre par ordinateur pour fournir des données de commande pour commander au moins un composant de robot conçu pour assembler et/ou désassembler une structure d'échafaudage - Google Patents

Procédé mis en uvre par ordinateur pour fournir des données de commande pour commander au moins un composant de robot conçu pour assembler et/ou désassembler une structure d'échafaudage Download PDF

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Publication number
EP4567222A1
EP4567222A1 EP23214031.9A EP23214031A EP4567222A1 EP 4567222 A1 EP4567222 A1 EP 4567222A1 EP 23214031 A EP23214031 A EP 23214031A EP 4567222 A1 EP4567222 A1 EP 4567222A1
Authority
EP
European Patent Office
Prior art keywords
scaffolding
component
data
robot
components
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23214031.9A
Other languages
German (de)
English (en)
Inventor
Ales UDE
Roel CONINGS
Christian SCHLETTE
Eric DEMEESTER
Michael SCHLUSE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Uc Limburg Vzw
Katholieke Universiteit Leuven
Rheinisch Westlische Technische Hochschuke RWTH
Syddansk Universitet
Institut Jozef Stefan
Original Assignee
Uc Limburg Vzw
Katholieke Universiteit Leuven
Rheinisch Westlische Technische Hochschuke RWTH
Syddansk Universitet
Institut Jozef Stefan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uc Limburg Vzw, Katholieke Universiteit Leuven, Rheinisch Westlische Technische Hochschuke RWTH, Syddansk Universitet, Institut Jozef Stefan filed Critical Uc Limburg Vzw
Priority to EP23214031.9A priority Critical patent/EP4567222A1/fr
Priority to PCT/EP2024/084739 priority patent/WO2025120007A1/fr
Publication of EP4567222A1 publication Critical patent/EP4567222A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G5/00—Component parts or accessories for scaffolds
    • E04G5/007—Devices and methods for erecting scaffolds, e.g. automatic scaffold erectors
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/02—Scaffolds primarily resting on the ground composed essentially of members elongated in one dimension only, e.g. poles, lattice masts, with or without end portions of special form, connected together by any means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0203—Arrangements for filling cracks or cavities in building constructions
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G7/00—Connections between parts of the scaffold
    • E04G7/30—Scaffolding bars or members with non-detachably fixed coupling elements
    • E04G7/301—Scaffolding bars or members with non-detachably fixed coupling elements for connecting bars or members which are parallel or in end-to-end relation
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G7/00—Connections between parts of the scaffold
    • E04G7/30—Scaffolding bars or members with non-detachably fixed coupling elements
    • E04G7/302—Scaffolding bars or members with non-detachably fixed coupling elements for connecting crossing or intersecting bars or members
    • E04G7/306—Scaffolding bars or members with non-detachably fixed coupling elements for connecting crossing or intersecting bars or members the added coupling elements are fixed at several bars or members to connect
    • E04G7/307—Scaffolding bars or members with non-detachably fixed coupling elements for connecting crossing or intersecting bars or members the added coupling elements are fixed at several bars or members to connect with tying means for connecting the bars or members
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G7/00—Connections between parts of the scaffold
    • E04G7/30—Scaffolding bars or members with non-detachably fixed coupling elements
    • E04G7/32—Scaffolding bars or members with non-detachably fixed coupling elements with coupling elements using wedges
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04D—ROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
    • E04D15/00—Apparatus or tools for roof working
    • E04D15/07—Apparatus or tools for roof working for handling roofing or sealing material in bulk form
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G5/00—Component parts or accessories for scaffolds
    • E04G2005/008—Hoisting devices specially adapted as part of a scaffold system

Definitions

  • the present disclosure relates to a computer-implemented method for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, a system for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, a corresponding computer program element and a use of at least one robot component, scaffolding data, sensor data, state data of a scaffolding component and/or control model in such computer-implemented method or system.
  • the present disclosure generally relates to the field of assembling or disassembling a scaffolding structure or a part of such a scaffolding structure.
  • Scaffolds/scaffold structures are building structures of variable length, width and height that are usually used for a limited period of time. They are assembled from different scaffold components, wherein to increase the height and/or width of a scaffold structure, vertical scaffold components and/or horizontal scaffold components and/or spatial scaffold components are connected to each other.
  • the connection is made, among other things, via connection elements, so-called scaffold nodes (e.g. provided by rosette elements), through which they are connected to each other.
  • a computer-implemented method for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure comprising the following steps:
  • a further aspect of the present disclosure relates to a system for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, comprising:
  • a further aspect of the present disclosure relates to a system for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, comprising:
  • a further aspect of the present disclosure relates to an apparatus for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, the apparatus comprising: one or more computing nodes; and one or more computer-readable media having thereon computer-executable instructions that are structured such that, when executed by the one or more computing nodes, cause the apparatus to perform the following steps:
  • a further aspect of the present disclosure relates to a computer program element with instructions, which, when executed on computing devices of a computing environment, is configured to carry out the steps of the computer-implemented method for providing control data in a system for providing control data and/or in an apparatus a computer-implemented method for providing control data.
  • a further aspect of the present disclosure relates to a use of at least one robot component, scaffolding data, sensor data, component state data of a scaffolding component, robot state data of at least one robot component and/or a control model (e.g. a control model comprising at least one trained algorithm), in a computer-implemented method for providing control data, in a system for providing control data and/or in an apparatus for providing control data.
  • a control model e.g. a control model comprising at least one trained algorithm
  • a further aspect of the present disclosure relates to a computer-readable storage medium, in particular non-transient storage medium, comprising instructions which, when executed by a computer, cause the computer to carry out the computer-implemented method for providing control data as described herein.
  • a further aspect of the present disclosure relates to a method for assembling or disassembling a scaffolding structure and/or a part of a scaffolding structure, comprising the following steps:
  • the present disclosure allows a simplified assembly and disassembly of scaffolding structures.
  • the present disclosure allows an assembly or disassembly of scaffolding structures in a less labor-intensive manner by providing and subsequently using control data for robot components configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure.
  • the present disclosure provides the basis for a robotic solution for automatic or at least partially automatic assembly and disassembly of scaffolding structures.
  • the present disclosure may further provide the basis for machine-human collaboration during the assembly or disassembly of scaffolding structures.
  • the present disclosure also provides the possibility of using a plurality of mobile robot components, e.g. mobile robot platforms, which may be equipped with different components, sensors and/or tools, for assembling and disassembling scaffolds.
  • robot component includes any mobile and/or stationary robot components suitable for assisting in the assembly or disassembly of a scaffolding structure/scaffold component.
  • this term encompasses robot components that are suitable for holding scaffold components, grasping scaffold components, inserting/mounting scaffold components into the scaffolding structure, removing scaffold components from the scaffolding structure, and/or transporting scaffolding components.
  • the present disclosure also includes embodiments in which a robot component may only perform transportation tasks and, for example, transports scaffolding components to their respective assembly location in the scaffolding structure where they are assembled, e.g. by a human operator.
  • robot components may be provided specialized for the transport and storage of scaffolding components.
  • the robot component may be provided with different exchangeable means, which allows flexible use of a robot component.
  • a robot component may be designed as a mobile robot platform comprising or connected to one or more process heads with one or more movable arms.
  • a process head may be provided, for example, as an arm-like unit equipped with an optionally exchangeable tool, such as a gripper.
  • a dual arm robot carrying out assembly/disassembly actions in a human-like manner, e.g.
  • the robot component may comprise one or more exchangeable process heads, wherein every process head may comprise a specific set of sensors or provide a specific functionality.
  • a mobility of such a robot component may be provided, for example, by using a wheel-based movement unit, wherein the present disclosure is not limited thereto.
  • the robot component may move on a deck component of the scaffolding structure and/or be designed to move on certain scaffold components, such as horizontal elements/components of the scaffolding structure.
  • certain scaffold components such as horizontal elements/components of the scaffolding structure.
  • guide means for example a magnetic strip, for the robot component on and/or on certain scaffold components.
  • the mobility of such a robot component may be limited only to one level of a scaffolding structure.
  • the robot component may use a lift/transport component to reach another level of the scaffolding structure.
  • the mobile robot platform itself may comprise a scissor lift unit allowing the mobile robot platform to reach another level of the scaffolding structure.
  • the control data may include instructions also for such tasks.
  • robot components or process heads can be provided that perform construction operations on a scaffolding structure. Such construction operations can be, for example: drilling, renovation work, application of insulation layers, transportation of tools and materials, installation or removal of construction elements, sensing of construction objects and environment conditions, execution of robot-supported construction processes, i.e. to modify the construction object or environment, or construction elements, etc.
  • scaffolding structure as used herein is to be understood broadly in the present case and refers to any scaffold or parts thereof that can be provided by means of individual scaffolding components that are to be connected in order to build the scaffold structure or parts thereof.
  • This term encompasses any working platforms, facade scaffolds, load-bearing scaffolds for assembly work or formwork work, but is not limited thereto.
  • the present disclosure not only refers to the "entire” assembly or disassembly of a scaffolding structure, but also includes the "partial” assembly or disassembly of a scaffolding structure.
  • this term also encompasses simultaneous assembly and disassembly of different areas of the scaffold structure.
  • the present disclosure also encompasses embodiments in which only one or more specific components are assembled or disassembled by the robot component.
  • the scaffolding structure may comprise the following components as scaffold components:
  • scaffolding data as used herein is to be understood broadly in the present case, wherein the scaffolding data at least comprise structural information indicating where a scaffolding component of the scaffolding structure is or should be positioned in the scaffolding structure.
  • the scaffolding data includes the mounting positions of the respective scaffolding components in the scaffolding structure.
  • the scaffolding data may refer to all scaffolding components, to some scaffolding components or to specific scaffolding components of the scaffolding structure.
  • the scaffolding data may refer to vertical standard components, horizontal ledger components, diagonal brace components, deck components and/or lift/transport components.
  • the scaffolding data is not limited thereto.
  • the scaffolding data may represent the current state of the scaffolding structure and/or the scaffolding components, the scaffolding data may comprise or may be provided as Digital Twin (DT) of the scaffold structure and/or the scaffold components.
  • the scaffolding data may comprise further information with respect to the scaffolding components.
  • the scaffolding data may further comprise at least one of the following entries:
  • Digital Twin is to be understood broadly here and includes any digital representation of the object mentioned here from the real world in the digital world.
  • sensor data as used herein is to be understood broadly in the present case and comprises information about the state of a scaffold component as component state data and about the state of a robot component as robot state data.
  • the sensor data may be acquired via a wide variety of sensors. These sensors may, for example, be arranged on or at a robot component, in the scaffolding structure, on or in a scaffolding component and/or remote to the scaffolding structure.
  • the sensors may also be stationary or mobile.
  • fixed sensor units e.g. camera units
  • one or more sensor units may be attached to mobile drones.
  • the following sensors may be used to acquire/provide the sensor data:
  • component state data as used herein is to be understood broadly in the present case and refers to sensor data with respect to the scaffolding components.
  • the component state data may include, for example, the actual position of a scaffold component to be dismounted or mounted, the actual position of a lift/transport component, etc.
  • the component state data of a scaffolding component may comprise at least one of the following entries:
  • certain entries of the scaffolding data may also be included in the component state data additionally or alternatively.
  • the geometry data of a scaffolding component, the weight data of a scaffolding component, the weight distribution data of a scaffolding component, the center of gravity data of a scaffolding component, etc. may be included in the component state data.
  • the specific allocation of this additional data is not significant, since both the component state data, as part of the sensor data, and the scaffolding data are used as input data for the control model.
  • robot state data as used herein is to be understood broadly in the present case and refers to sensor data with respect to the robot components.
  • the robot state data may include, at least one of the following entries:
  • control model as used herein is to be understood broadly in the present case and encompasses known conventional force-feedback methods for controlling robot components.
  • the control model may comprise at least one trained algorithm, wherein the term “trained algorithm” or “trained control model” as used herein is to be understood broadly in the present case.
  • the algorithm may be a machine learning algorithm.
  • the algorithm may comprise decision trees, naive bayes classifications, nearest neighbors, neural networks, convolutional or recurrent neural networks, transformers, generative adversarial networks, support vector machines, linear regression, logistic regression, random forest, gradient boosting algorithms and/or a diffusion model.
  • Such an algorithm in particular machine learning algorithm, is termed “intelligent” because it is capable of being “trained.”
  • the algorithm may be trained using records of training data.
  • a record of training data comprises training input data and corresponding training output data.
  • training data may, for example be sensor data training sets, the sets may comprise reference sensor data and at least one control data/output for controlling a robot component.
  • the training output data of a record of training data is the result that is expected to be produced by the algorithm when being given the training input data of the same record of training data as input.
  • the deviation between this expected result and the actual result produced by the algorithm is observed and rated by means of a "loss function". This loss function may be used as feedback for adjusting the parameters of the internal processing chain of the algorithm.
  • the parameters may be adjusted with the optimization goal of minimizing the values of the loss function that result when all training input data are fed into the algorithm and the outcome is compared with the corresponding training output data.
  • the result of this training is that given a relatively small number of records of training data as "ground truth", the algorithm is enabled to perform its job well for a number of records of input data that is higher by many orders of magnitude.
  • the control model may comprise several or even a large number of different control routines/sub-models, for example a trained algorithm for controlling the movement of the robot component in the scaffolding system, a force feedback control routine for gripping a scaffolding component, etc. It is also possible to use mixed control routines that combine different control approaches.
  • control data as used herein is to be understood broadly in the present case and comprises any data structure/information structure that is suitable for controlling a robot component, for example in digital form and/or in analog form.
  • data as used herein is to be understood broadly in the present case and represents any kind of data.
  • Data may be single numbers/numerical values, a plurality of a numbers/numerical values, a plurality of a numbers/numerical values being arranged within a list, 2 dimensional maps or 3 dimensional maps, but are not limited thereto.
  • providing is to be understood broadly in the present case and represents any providing, receiving, querying, measuring, calculating, determining, transmitting of data, but is not limited thereto.
  • Data may be provided by a user via a user interface, depicted/shown to a user by a display, and/or received from other devices, queried from other devices, measured other devices, calculated by other device, determined by other devices and/or transmitted by other devices.
  • the scaffolding data may comprise entries relating to at least one of the following scaffolding components:
  • the scaffolding data may further comprise at least one of the following entries:
  • the at least one robot component may comprise a lower part configured as mobile robot platform and an upper part comprising at least one process head, which is preferably an exchangeable process head, configured to mount and/or dismount at least one scaffolding component.
  • a mobile robot platform may allow for traversing and climbing in a scaffolding structure.
  • the mobile robot platform may comprise a wheel-based movement unit allowing a movement on a level of the scaffolding structure.
  • the robot component i.e. the lower mobile robot platform, may move on a deck component of the scaffolding structure and/or be designed to move on certain scaffold components, such as horizontal components, e.g. horizontal beams, of the scaffolding structure.
  • the mobile robot platform may comprise a scissor lift unit.
  • the at least one robot component may be a mobile robot platform comprising a wheel-based movement unit and one or two process heads.
  • the robot component is a dual arm robot for carrying out assembly actions in a human-like manner, e.g. both hands are sharing the load, and one hand guides one end of a scaffolding component for the actual assembly action, while the other hand follows with compensating and supportive motions on the other end of the scaffolding component.
  • the at least one robot component may be a mobile robot platform comprising storage means configured to store at least one scaffolding component.
  • the computer-implemented method may further comprise: providing control data for at least two robot components, wherein the robot components are configured to perform different tasks when assembling or disassembling the scaffolding structure and/or the part of a scaffolding structure.
  • At least one of the tasks is a transport task of at least one scaffolding component, wherein the transport task preferably relates to a transport from a storage location of the scaffolding component to an assembly location of the scaffolding component or from a disassembly location to a storage location.
  • the sensor data may be provided by at least one of the following sensors:
  • the sensor data may further comprise environmental data.
  • actual and/or future weather data may be taken into account here to determine whether or not certain tasks may be carried out due to weather conditions.
  • limit values for wind speeds, precipitation amounts, outside temperatures, etc. may be taken into account here.
  • the component state data of a scaffolding component may comprise at least one of the following entries:
  • the robot state data of the robot component may include, at least one of the following entries:
  • control model may comprise at least one trained algorithm, wherein the training data for the control model comprises labeled sensor data.
  • control model may comprise model components that are individually trained to a mounting operation and/or dismounting operation of a specific scaffolding component.
  • the trained control model may comprise predetermined movement patterns for specific scaffolding components, wherein the trained control model may be further configured to adapt these predetermined movement patterns based on the provided sensor data.
  • control data for at least one robot component may be configured for human-machine collaboration comprising predetermined movement patterns, wherein the trained control model may be further configured to adapt these predetermined movement patterns based on the provided sensor data.
  • the trained control model may be further adapted to provide a confirmation request when a predetermined task has been completed, and wherein after providing a confirmation request, the robot component is set on hold until a confirmation response has been provided, preferably by means of a human input interface.
  • the confirmation response may also be provided by a confirmation model using sensor data as input data for issuing a confirmation response.
  • the trained control model may be further adapted to provide an assisting request when a predetermined task is to be performed requiring a predefined human interaction, and wherein after providing an assisting request, the robot component is set on hold until the predefined human interaction has been performed.
  • the trained control model may be further adapted to provide an error stop of the at least one robot component when the sensor data indicates that at least one of the entries of the state data and/or the sensor data is outside or within a predefined value range.
  • Figure 1 illustrates a flow diagram of a computer-implemented method for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure according to an embodiment of the present disclosure.
  • scaffolding data are provided, wherein the scaffolding data at least comprise structural information indicating where a scaffolding component of the scaffolding structure is or should be positioned in the scaffolding structure.
  • the scaffolding structure may be a working platform, a facade scaffold, a load-bearing scaffolds, etc. (cf. Figure 4 ).
  • the scaffolding data may refer to all scaffolding components, to some scaffolding components or to specific scaffolding components of the scaffolding structure.
  • the scaffolding data may refer to vertical standard components (cf. Figures 5 ), horizontal ledger components (cf. Figures 6 ), diagonal brace components, deck components and/or lift/transport components.
  • the scaffolding data may comprise or may be provided as Digital Twin (DT) of the scaffold structure and/or the scaffold components.
  • the Digital Twin not only refers to the scaffolding structure, but encompasses also the robot components, the human operator(s) and the environment around the scaffolding structure, e.g. the building behind the scaffolding structure, crane, etc.
  • sensor data are provided, wherein the sensor data at least comprise component state data of a scaffolding component to be mounted for assembling or to be dismounted for disassembling the scaffolding structure, and robot state data of the at least one robot component.
  • the sensor data may be acquired via a wide variety of sensors. These sensors may, for example, be arranged on or at a robot component, in the scaffolding structure, on or in a scaffolding component and/or remote to the scaffolding structure.
  • the sensor data may be acquired and processed in real-time.
  • the component state data refers to and/or is update according to sensor data with respect to a scaffolding component.
  • the component state data may include, for example, the actual position of a scaffold component to be dismounted or mounted, the actual position of a lift/transport component, etc.
  • the component state data of a scaffolding component may comprise at least one of the following entries:
  • the robot state data refers to sensor data with respect to the robot components.
  • the robot state data may include, at least one of the following entries:
  • control model configured to provide control data for the at least one robot component based on the scaffolding data and the sensor data.
  • the control model encompasses conventional methods for controlling robot components, e.g. force-feedback methods, but also control models comprising trained algorithms. For example, for different tasks, respectively trained algorithms may be used, e.g. a trained algorithm may be used for the movement of the robot component, holding specific scaffold components, grasping scaffold components, inserting/mounting scaffold components into the scaffolding structure, removing scaffold components from the scaffolding structure, and/or transporting scaffolding components, etc.
  • control data for the at least one robot component utilizing the control model are provided, wherein at least the scaffolding data and sensor data are used as input data for the control model.
  • These control data may be used to assign to the robot component, for example, a transport task, an arrangement of a component, a removal of a component, and the like.
  • Figure 2 illustrates a system 50 for providing control data for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure according to an embodiment of the present disclosure.
  • the system 50 is comprising a processing circuitry 60, a storage medium 70 and a data interface 70, wherein the data interface 70 is configured to receive the input data for the control model including the scaffolding data and the sensor data.
  • the storage medium 70 comprises a computer program that comprises instructions which when the program is executed, cause the processing circuitry 60 to carry out the computer-implemented method for providing control data for controlling at least one robot component as disclosed herein.
  • FIGS 3 illustrate an example of a robot component 100 and its potential movement options in a scaffolding structure.
  • the robot component 100 may comprise a lower and an upper part.
  • the upper part may act as a universal base for robotic parts, e.g. one or more robot arms, process heads, sensor units, payload, etc.
  • the upper part may be lifted from the lower part by means of a scissor lift.
  • the lower part may be provided as a universal mobile platform for robot components 100.
  • the scissor lift may carry the upper part which can be rotated, so that robot parts mounted on the upper part can be reoriented.
  • the upper part may also be equipped with four clamps to firmly connect the upper part to scaffolding components, e.g. ledger components, in the scaffolding structure.
  • the lower part may have the shape of a box, e.g. having a width of approximately 650 mm, a length of approximately 650 mm and a height of approximately 500 mm, hosting the drives for the scissor lift and the slewing ring as well as controllers of the robot parts mounted on the upper part.
  • the lower part may feature three parallel axles with wheels specifically shaped for running on the rectangular profiles of the ledger components.
  • the drives for the wheels may be located in the lower part, with a special capability to pull each axle individually up- and inwards into the lower part.
  • the actuated features of the upper and the lower part of the mobile robot platform is able to provide the motions traversal, climbing and turning.
  • Traversal may be implemented by driving with six or more wheels on the ledger components. This motion may be interrupted by the vertical standard components and connected crossing ledger components. As shown Figures 3a , for six wheels, the robot component 100 may get around vertical standard components by briefly pulling in and then pushing out again one axis one after another, while keeping contact and moving on the ledger component with the remaining wheels.
  • Climbing of the robot component 100 may be implemented as shown in Figures 3b .
  • the upper part may be lifted to the second next level of the scaffolding structure, e.g. to the next horizontal elements, where the clamps may be connected with the ledger components. Then all axes may be pulled in, so that the lower part may be hanging from the upper part.
  • Activating the scissor lift may now allow to raise the lower part over the next level of the scaffolding structure, where the wheels may be pushed out to provide contact with the ledger components again. Releasing the clamps of the upper part may yield the initial configuration again, but now one level higher.
  • Turning of the robot component 100 may be implemented based on lifting and reorienting the lower part by actuating the slewing ring when the upper part is fixed as shown in Figures 3c .
  • Figure 4 illustrates a scaffolding structure 200, which is assembled using robot components 100.
  • multiple/different robot components 100 may be used for assembly and disassembly of a scaffold structure and/or for other construction operations, like drilling, renovation work, application of insulation layers, transportation of tools and materials, installation or removal of construction elements, sensing of construction objects and environment conditions, execution of robot-supported construction processes, i.e. to modify the construction object or environment, or construction elements, etc.
  • the right robot component 100 comprises a process head configured to perform a painting task.
  • the present disclosure is not limited to any particular number and/or types of robot components.
  • one of the robot components may be used for transport tasks, wherein another robot component 100 may handing over a scaffolding component to a human operator.
  • the left robot component 100 comprises an upper part with a dual arm unit equipped with a tool, here grippers.
  • the dual arm robot carrying out assembly/disassembly actions in a human-like manner, e.g. both arms may share the load, and one arm guides one end of a scaffolding component for the actual assembly action, while the other arm follows with compensating and supportive motions on the other end of the scaffolding component.
  • Figures 5 show two vertical standard components 300 comprising at least one connection node 310, here in form of a rosette element 310.
  • the connection node 310 is configured for having further components of the scaffolding structure mounted thereon.
  • the rosette element 310 comprises openings into which connection means of other scaffolding components may be inserted and held.
  • the vertical standard components 300 should be connected to each other by a robot component 100 so that they are arranged on another, as shown in Figure 5b .
  • the shown lower vertical standard component 300 has already been placed in the intended position, e.g. onto a further vertical standard component 300 (not shown).
  • the shown upper vertical standard component 300 may be positioned onto the lower vertical standard component 300 by the robot component 100 comprising the following steps:
  • Figures 6 show the connected vertical standard components 300 of Figures 5 and a horizontal ledger component 400.
  • the horizontal ledger component 400 comprises a further connection means 410, which may be inserted into and hold by the openings of the rosette element 310.
  • the horizontal ledger component 400 is being spaced apart from the rosette element 310
  • the connection means 410 has been inserted into one of the openings of the rosette element 310.
  • the vertical standard components 300 have already been placed in the shown position.
  • the horizontal ledger component 400 may be connected to the rosette element 310 by the robot component 100 comprising the following steps:
  • the computer program element might therefore be stored on a computing unit of a computing device, which might also be part of an embodiment.
  • This computing unit may be configured to perform or induce performing of the steps of the method described above. Moreover, it may be configured to operate the components of the above-described system.
  • the computing unit can be configured to operate automatically and/or to execute the orders of a user.
  • the computing unit may include a data processor.
  • a computer program may be loaded into a working memory of a data processor.
  • the data processor may thus be equipped to carry out the method according to one of the preceding embodiments.
  • This exemplary embodiment of the present disclosure covers both, a computer program that right from the beginning uses the present disclosure and computer program that by means of an update turns an existing program into a program that uses the present disclosure.
  • the computer program element might be able to provide all necessary steps to fulfill the procedure of an exemplary embodiment of the method as described above.
  • a computer readable medium such as a CD-ROM, USB stick, a downloadable executable or the like, is presented wherein the computer readable medium has a computer program element stored on it which computer program element is described by the preceding section.
  • a computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.
  • the computer program may also be presented over a network like the World Wide Web and can be downloaded into the working memory of a data processor from such a network.
  • a medium for making a computer program element available for downloading is provided, which computer program element is arranged to perform a method according to one of the previously described embodiments of the present disclosure.
  • determining also includes “estimating, calculating, initiating or causing to determine”
  • generating also includes “initiating or causing to generate”
  • providing also includes “initiating or causing to determine, generate, select, send, query or receive”.

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  • Engineering & Computer Science (AREA)
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  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
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  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Manipulator (AREA)
EP23214031.9A 2023-12-04 2023-12-04 Procédé mis en uvre par ordinateur pour fournir des données de commande pour commander au moins un composant de robot conçu pour assembler et/ou désassembler une structure d'échafaudage Pending EP4567222A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP23214031.9A EP4567222A1 (fr) 2023-12-04 2023-12-04 Procédé mis en uvre par ordinateur pour fournir des données de commande pour commander au moins un composant de robot conçu pour assembler et/ou désassembler une structure d'échafaudage
PCT/EP2024/084739 WO2025120007A1 (fr) 2023-12-04 2024-12-04 Procédé mis en œuvre par ordinateur pour fournir des données de commande servant à commander au moins un composant de robot conçu pour effectuer une tâche de construction ou une partie d'une tâche de construction, en particulier pour assembler et/ou démonter une structure d'échafaudage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP23214031.9A EP4567222A1 (fr) 2023-12-04 2023-12-04 Procédé mis en uvre par ordinateur pour fournir des données de commande pour commander au moins un composant de robot conçu pour assembler et/ou désassembler une structure d'échafaudage

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EP4567222A1 true EP4567222A1 (fr) 2025-06-11

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CN207892211U (zh) * 2018-01-23 2018-09-21 宋曙峰 一种建筑工程用室内外安装支架
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JP7050286B2 (ja) * 2018-02-27 2022-04-08 株式会社産業工学エンジニアリング 足場組立装置及び方法
WO2022166178A1 (fr) * 2021-08-28 2022-08-11 王芝香 Robot de montage et de démontage d'échafaudage

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JP7050286B2 (ja) * 2018-02-27 2022-04-08 株式会社産業工学エンジニアリング 足場組立装置及び方法
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