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WO2025120007A1 - 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 - Google Patents

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 Download PDF

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Publication number
WO2025120007A1
WO2025120007A1 PCT/EP2024/084739 EP2024084739W WO2025120007A1 WO 2025120007 A1 WO2025120007 A1 WO 2025120007A1 EP 2024084739 W EP2024084739 W EP 2024084739W WO 2025120007 A1 WO2025120007 A1 WO 2025120007A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
data
scaffolding
robot
computer
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
PCT/EP2024/084739
Other languages
English (en)
Inventor
Aleš 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
Publication of WO2025120007A1 publication Critical patent/WO2025120007A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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 carry out a construction task, in particular to assemble and/or disassemble a scaffolding structure, and/or at least a part of a construction task, in particular of a scaffolding structure; a system for providing control data for controlling at least one robot component configured to carry out a construction task or at least a part of a construction task, in particular 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 construction, in particular scaffold-based construction, like assembling or disassembling a scaffolding structure or a part of such a scaffolding structure and/or carry out a renovation operation/task.
  • Construction task in the sense of the present disclosure may be a scaffold-based construction task in the field of scaffold-based construction.
  • the term “scaffold-based construction” may encompass technologies and processes that are developed to 1 ) assemble and disassemble scaffolding structures and then 2) further use the scaffolding as a platform to carry out construction operations a) fully manually by workers, b) semi- automatically in collaboration of workers and robots and c) fully automatically by robots. This transforms and activates the passive scaffolding on construction sites to become an active spatial structure which systematically gives access to buildings and infrastructures for workers, materials, tools, as well as facilitating modular robotic tools to support/execute construction operations and/or to measure/monitor the site.
  • the solution builds on robotic mobile platforms and lifts that use scaffolding as a 3D transportation infrastructure to deploy exchangeable process heads to the enveloped buildings and infrastructures.
  • Those process heads are developed for the assembly and disassembly of scaffolding structures or for specialized construction processes like scanning, printing, boring, screwing, gluing, rendering, painting, plastering or the like.
  • Scaffolds/scaffold structures can be 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 carry out at least one construction task or at least one part of a construction task at a construction site comprising the following steps: providing construction site data comprising at least information about the construction site and information where the at least one construction task or the at least one part of the construction task is to be carried out at the construction site; providing sensor data at least comprising: construction site state data at least comprising information about the actual state of the construction site, and robot state data comprising information about the actual state of the at least one robot component; providing at least one control model configured to provide control data for the at least one robot component based on the construction site data and the sensor data; providing control data for the at least one robot component utilizing the control model, wherein at least the construction site state data and the sensor data are used as input data for the control model.
  • a further aspect of the present disclosure relates to a system for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site, comprising: a processing circuitry; a storage medium; and a data interface; wherein the storage medium comprises a computer program that comprises instructions which when the program is executed, cause the processing circuitry to carry out the computer-implemented method for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site wherein the data interface is configured to receive input data for the control model including the construction site data and the sensor data.
  • a further aspect of the present disclosure relates to a system for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site, comprising: a first providing unit configured to provide construction site data comprising at least information about the construction site and information where the at least one construction task or the at least one part of the construction task is to be carried out at the construction site; a second providing unit configured to provide sensor data at least comprising: construction site state data at least comprising information about the actual state of the construction site, and robot state data comprising information about the actual state of the at least one robot component; a third providing unit configured to provide at least one control model configured to provide control data for the at least one robot component based on the construction site data and the sensor data; a fourth providing unit configured to provide control data for the at least one robot component utilizing the control model, wherein at least the construction site state data and the sensor data are used as input data for the control model.
  • a further aspect of the present disclosure relates to an apparatus for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site, wherein 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: providing construction site data comprising at least information about the construction site and information where the at least one construction task or the at least one part of the construction task is to be carried out at the construction site; providing sensor data at least comprising: construction site state data at least comprising information about the actual state of the construction site, and robot state data comprising information about the actual state of the at least one robot component; providing at least one control model configured to provide control data for the at least one robot component based on the construction site data and the sensor data; providing control data for the at least one robot component utilizing the control model, wherein at least the construction site state data and the sensor data are used as
  • a further aspect of the present disclosure relates to a robot component configured to carry out a construction task or at least one part of a construction task at a construction site, wherein the control data for the robot component is at least partially provided according to the computer-implemented method for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site.
  • 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 for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site in a system for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site and/or in an apparatus a computer-implemented method for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site.
  • a further aspect of the present disclosure relates to a use of at least one robot component, construction site data, sensor data, robot state data 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 for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site, in a system for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site and/or in an apparatus for providing control data for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site.
  • 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 for controlling at least one robot component configured to carry out at least one construction task or at least one part of a construction task at a construction site.
  • a further aspect of the present disclosure relates to 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 , wherein the computer-implemented method comprising the following steps: providing scaffolding data comprising at least structural information indicating where a scaffolding component of the scaffolding structure is or should be positioned in the scaffolding structure; providing sensor data at least comprising: scaffolding 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; providing at least one control model configured to provide control data for the at least one robot component based on the scaffolding data and the sensor data; providing control data for the at least one robot component utilizing the control model, wherein at least the scaffolding data and sensor data are used as input data for the control model.
  • 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 processing circuitry; a storage medium; and a data interface; wherein the storage medium comprises a computer program that comprises instructions which when the program is executed, cause the processing circuitry to carry out the 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 and/or as disclosed herein; wherein the data interface is configured to receive input data for the control model including the scaffolding data and the sensor data.
  • 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 first providing unit configured to provide scaffolding data comprising at least structural information indicating where a scaffolding component of the scaffolding structure is or should be positioned in the scaffolding structure; a second providing unit configured to provide sensor data at least comprising: scaffolding 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; a third providing unit configured to provide at least one control model configured to provide control data for the at least one robot component based on the scaffolding data and the sensor data; a fourth providing unit configured to provide control data for the at least one robot component utilizing the control model, wherein at least the scaffolding data and sensor data are used as input data for the control model.
  • 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: providing scaffolding data comprising at least structural information indicating where a scaffolding component of the scaffolding structure is positioned in the scaffolding structure; providing sensor data at least comprising: 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; providing at least one control model configured to provide control data for the at least one robot component based on the scaffolding data and the sensor data; providing control data for the at least one robot component utilizing the control model, wherein at least the scaffolding data and sensor data are used as input data for the control model.
  • a further aspect of the present disclosure relates to a robot component configured to build up a scaffolding structure and/or a part of a scaffolding structure, wherein the control data for the robot component is at least partially provided according to the 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 and/or as disclosed herein.
  • 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 particular for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, in a system for providing control data, in particular for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, and/or in an apparatus a computer-implemented method for providing control data, in particular 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 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 particular for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure, in a system for providing control data, in particular for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure and/or in an apparatus for providing control data, in particular 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 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 for controlling at least one robot component configured to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure and/or 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: providing scaffolding components required for assembling the scaffolding structure and/or the part of the scaffolding structure; providing at least one robot component configured to assemble and/or disassemble the scaffolding structure and/or the part of the scaffolding structure; assembling or disassembling the scaffolding structure and/or the part of the scaffolding structure by controlling the at least one robot component by control data provided according the 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 and/or as disclosed herein.
  • the present disclosure allows a simplified carrying out of a construction task. In particular, it allows to make the carrying out of a construction task less labor- intensive. Moreover, the present disclosure in particular allows a simplified assembly and disassembly of scaffolding structures. In particular, 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. In other words, by providing control data for at least one robot component, the present disclosure provides the basis for a robotic solution for automatic or at least partially automatic carrying out of construction tasks, like assembly and disassembly of scaffolding structures and/or carrying out renovation operations.
  • the present disclosure may further provide the basis for machine-human collaboration when carrying out construction tasks, like the assembly or disassembly of scaffolding structures and/or carrying out renovation operations.
  • 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/process heads, sensors and/or tools, for carrying out construction tasks, like assembling and disassembling scaffolds or carrying out renovation operations.
  • robot component as used herein is to be understood broadly in the present case.
  • the term robot component includes any mobile and/or stationary robot components suitable for assisting in the assembly or disassembly of a scaffolding structure/scaffold component and/or when carrying out construction tasks.
  • this term encompasses robot components that are suitable for holding tools, bores, drillers, grippers, 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 components, like scaffolding components to their respective assembly location in the scaffolding structure where they are assembled, e.g.
  • robot components may be provided specialized for the transport and storage of construction components, like scaffolding components, insulation materials, and/or the like.
  • 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.
  • 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 the ground of the construction site and/or 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 and/or on the ground of the construction site.
  • the mobility of such a robot component may be limited only to one level of a scaffolding structure and/or only to the ground of the construction site.
  • 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.
  • 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.
  • the process heads/robot components may comprise means/tools required for assembling the scaffolding structure and means/tools intended for carrying out other construction tasks, beyond assembly/disassembly of scaffolding structures.
  • the control data may include instructions also for such tasks.
  • robot components or process heads can be provided that perform construction tasks/operations, in particular different than assembly/disassembly 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.
  • Such renovation operations may comprise the application of concrete, the attachment of insulation material, the attachment of cladding elements and/or roof elements.
  • the robot component may comprise a scanning process head configured to scan the surface of a building, a spraying process head configured to apply concrete or an anti-corrosion agent onto a surface, a filling process head configured to apply a slushy material onto a surface, 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:
  • connection node preferably in form of a rosette element, wherein the connection node is configured for having further components of the scaffolding structure mounted thereon;
  • a horizontal ledger component comprising at least one first connection means configured to be mounted to the at least one connection node of the vertical standard component;
  • a diagonal brace component comprising at least one second connection means configured to be mounted to the at least one connection node of the vertical standard component
  • a deck component comprising at least one third connection means configured to be mounted to the at least one connection node and/or the horizontal ledger component, wherein the deck component preferably further comprises at least one locking means configured to lock the deck component in a mounting position;
  • a lift and/or transport component/system configured to house at least one robot component and transport the robot component between levels of the scaffolding structure
  • a lift and/or transport component/system configured to transport scaffolding components between levels of the scaffolding structure.
  • construction site data as used herein can be understood broadly in the present case, wherein the construction site data at least comprises information about the construction site and information where the at least one construction task or the at least one part of the construction task is to be performed at the construction site.
  • the construction task is to assemble and/or disassemble a scaffolding structure and/or a part of a scaffolding structure
  • the construction site data is provided as scaffolding data as disclosed herein.
  • 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 I ift/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:
  • position and/or orientation data of at least one of the scaffolding components based on a relative coordinate system, wherein the position and/or orientation data relates to a position and/or an orientation of at least one of the scaffolding components in the scaffolding structure.
  • 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 construction and/or 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/construction site, on or in a scaffolding component/construction site component and/or remote to the scaffolding structure/construction site.
  • the sensors may also be stationary or mobile. For example, fixed sensor units (e.g. camera units) may be provided at different positions in the scaffolding structure/ construction site, wherein one or more sensor units may be attached to mobile drones.
  • the following sensors may be used to acquire/provide the sensor data:
  • IMU inertial measurement unit
  • 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:
  • Digital Twins may provide virtual replica of the physical components/assets. They may be based on Digital Twin Types which may be modeled using different modelling languages, like AAS (Asset Administration Shell), DAE (Differential Algebraic Equation), URDF (Unified Robot Description Format), IFC (Industry Foundation Classes), etc., and approaches and may comprise the following meta data and models: Geometric models, kinematic and rigid body dynamics models, process models (like spraying, applying and filling), meta data (like part identifiers or photos), interface descriptions for communication (like, properties, methods, named events, etc.).
  • AAS Asset Administration Shell
  • DAE Dynamic Algebraic Equation
  • URDF Unified Robot Description Format
  • IFC Industry Foundation Classes
  • all entities/components may communicate with each other via an loT-infrastructure, like the Smart Systems Service Infrastructure (S 3 I) developed by the RWTH.
  • An identity provider unit may be provided such that each entity/component may be provided with its own identity for authentication and authorization.
  • a respective directory may be provided for finding the meta data for each required/involved entity/component.
  • a broker unit for communication following different communication patterns may be provided.
  • respective application scenarios may be analyzed in a virtual testbed.
  • a virtual testbed platform may convert an application scenario in a corresponding simulation model using appropriate simulation approaches, e.g. discrete-event for fast analysis of longer processes or continuous-time for in-depth analysis of movements and processes.
  • the virtual testbed platform may also be used in the planning stage, or during operation.
  • 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 as used herein 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:
  • a vertical standard component comprising at least one connection node, preferably in form of a rosette element, wherein the connection node is configured for having further components of the scaffolding structure mounted thereon;
  • a horizontal ledger component comprising at least one first connection means configured to be mounted to the at least one connection node of the vertical standard component;
  • a diagonal brace component comprising at least one second connection means configured to be mounted to the at least one connection node of the vertical standard component
  • a deck component comprising at least one third connection means configured to be mounted to the at least one connection node and/or the horizontal ledger component, wherein the deck component preferably further comprises at least one locking means configured to lock the deck component in a mounting position;
  • a lift/transport component configured to house at least one robot component and transport the robot component between levels of the scaffolding structure
  • a lift/transport component configured to transport scaffolding components between levels of the scaffolding structure.
  • the scaffolding data may further comprise at least one of the following entries: • geometry data of at least one of the scaffolding components;
  • position and/or orientation data of at least one of the scaffolding components based on a relative coordinate system, wherein the position and/or orientation data relates to a position and/or an orientation of at least one of the scaffolding components in the scaffolding structure.
  • 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:
  • IMU inertial measurement unit
  • 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
  • Figure 2 illustrates 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 according to an embodiment of the present disclosure
  • Figures 3 illustrate an example of a mobile robot platform and its potential movement options in a scaffolding structure
  • Figure 4 illustrates a scaffolding structure, which is assembled using at least one of the mobile robot platforms shown in Figures 3;
  • Figures 5 illustrate two vertical standard components of a scaffolding structure;
  • Figures 6 illustrate a horizontal ledger component configured to be mounted to the vertical standard components shown in Figure 5.
  • the assemble and/or disassemble of a scaffolding structure and/or a part of a scaffolding structure is one preferred embodiment of a construction tasks.
  • a construction tasks in form of assembling and/or disassembling a scaffolding structure is explained in more detail.
  • a construction task in form of some preferred renovation operations is explained.
  • such renovation operations/tasks may include, for example, the application of a concrete layer, the attachment of insulation material, the attachment of cladding elements and/or roof elements.
  • the present disclosure is not limited to these construction tasks.
  • Figure 1 illustrates a flow diagram of a computer-implemented method for providing control data for controlling at least one robot component configured to carry out a construction task, here, the robot component is 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:
  • connection means 410 • inserting the connection means 410 at a first end of the horizontal ledger component 400 in the already mounted/placed rosette element 310 of a first vertical standard component 300, based on pre-programmed motions, which are adapted online at least based on visual sensor data;
  • connection means 410 • inserting the connection means 410 at a second end (not shown) of the horizontal ledger component 400 in a rosette element 310 of a second vertical standard component 300 (not shown), based on pre-programmed motions, which are adapted online at least based on visual sensor data;
  • Typical renovation work on buildings includes the application of concrete, the attachment of insulation material, the attachment of cladding elements and/or roof elements. Notably, these renovation work may be performed using a scaffolding assembled as explained above.
  • a mobile robot component may scan and analyze the surface of a building and can systematically and automatically detect such defects.
  • the sensor data can be analyzed and evaluated using appropriate software elements. Based on the detection, workers may be directed to the defect to manually open and clean the weakened concrete down to the reinforcement.
  • a robot component comprising a process head which allows for spraying concrete or anti-corrosion agents as a treatment.
  • Insulation material
  • mineral wool may be used as an insulating material, which is one of the most common insulation options as well as a sustainable material option.
  • the typical challenges of fagade renovations with mineral wool are the highly repetitive and time-consuming manual efforts it takes to install the material.
  • a mobile robot component may scan the building/envelope in order to be able to calculate the geometries and thus the required volume of insulation materials.
  • an adhesive mortar is applied to the backside of mineral wool slabs and the mineral wool slab may then be glued to the envelope/building.
  • a mobile robot component comprising a respective spaying process head may be used to support workers with collaborative gluing processes, where the robot component may be used to transport and handing the slabs to a worker.
  • a mobile robot component comprising a process head configured to bore boreholes at the required positions and required borehole patterns. This may be the most time-consuming step when installing insulation material. Workers may then manually install the steel frame and mineral wool on top of it. Another process head may allow for supporting these installations by providing a process head equipped with industrial screwdrivers for mounting the frame respectively slabs jointly with the workers.
  • a mobile robot component may comprise a gantry unit/equipment configured to print or pour foam concrete as an insulation material as further option.
  • Rendering is one of the most common cladding options on residential facades.
  • the typical challenge of rendering facades is that the application process is extremely time-consuming and requires specific skills to render also complex fagade geometries in high quality, e.g. around window openings.
  • a mobile robot platform may be used to scan the envelope in order to precisely calculate the geometries which need to be considered for rendering.
  • a mobile robot platform comprising scanning means may be used to allow a precise calculation of the required material volume as well as for assessing and resolving upcoming difficulties with the installation.
  • a mobile robot platform may be used for the material transport, e.g. using an elevator and/or a scaffolding structure.
  • mobile robot platforms comprising at least one process head in turn comprising means for scanning, measuring, boring, screwing, spraying, application of glue, positioning of panels/modules may be used.
  • 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.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1 :
  • 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: providing scaffolding data comprising at least structural information indicating where a scaffolding component of the scaffolding structure is positioned in the scaffolding structure; providing sensor data at least comprising: 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; providing at least one control model configured to provide control data for the at least one robot component based on the scaffolding data and the sensor data; providing control data for the at least one robot component utilizing the control model, wherein at least the scaffolding data and sensor data are used as input data for the control model.
  • Embodiment 2 :
  • the scaffolding data comprises entries relating to at least one of the following scaffolding components:
  • a vertical standard component comprising at least one connection node, preferably in form of a rosette element, wherein the connection node is configured for having further components of the scaffolding structure mounted thereon;
  • a horizontal ledger component comprising at least one first connection means configured to be mounted to the at least one connection node of the vertical standard component;
  • a diagonal brace component comprising at least one second connection means configured to be mounted to the at least one connection node of the vertical standard component
  • a deck component comprising at least one third connection means configured to be mounted to the at least one connection node and/or the horizontal ledger component, wherein the deck component preferably further comprises at least one locking means configured to lock the deck component in a mounting position;
  • a lift/transport component configured to house at least one robot component and transport the robot component between levels of the scaffolding structure
  • a lift/transport component configured to transport scaffolding components between levels of the scaffolding structure.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • scaffolding data further comprises at least one of the following entries:
  • position and/or orientation data of at least one of the scaffolding components based on a relative coordinate system, wherein the position and/or orientation data relates to a position and/or an orientation of at least one of the scaffolding components in the scaffolding structure.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the at least one robot component comprises a lower part configured as a 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.
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • Computer-implemented method further comprising: 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, wherein at least one of the tasks is preferably 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.
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • IMU inertial measurement unit
  • Embodiment 7 is a diagrammatic representation of Embodiment 7:
  • component state data of a scaffolding component comprises at least one of the following entries:
  • Embodiment 8 is a diagrammatic representation of Embodiment 8
  • control model is a trained control model comprising at least one trained algorithm
  • training data for the trained control model comprises labeled sensor data
  • Embodiment 9 is a diagrammatic representation of Embodiment 9:
  • the trained control model comprises model components that are individually trained to a mounting operation and/or dismounting operation of a specific scaffolding component.
  • Embodiment 10 is a diagrammatic representation of Embodiment 10:
  • the trained control model comprises predetermined movement patterns for specific scaffolding components, wherein the trained control model is further configured to adapt these predetermined movement patterns based on the provided sensor data.
  • Embodiment 11 is a diagrammatic representation of Embodiment 11 :
  • control model is 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.
  • Embodiment 12 is a diagrammatic representation of Embodiment 12
  • control model is 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.
  • Embodiment 13 is a diagrammatic representation of Embodiment 13:
  • 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 processing circuitry; a storage medium; and a data interface; wherein the storage medium comprises a computer program that comprises instructions which when the program is executed, cause the processing circuitry to carry out the method according to any one of Embodiments 1 to 12; wherein the data interface is configured to receive input data for the control model including the scaffolding data and the sensor data.
  • Embodiment 14 is a diagrammatic representation of Embodiment 14:
  • 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 according to any one of the Embodiments 1 to 12 in a system according to Embodiment 13.
  • Embodiment 15 is a diagrammatic representation of Embodiment 15:
  • 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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Abstract

L'invention concerne un procédé mis en œuvre par ordinateur pour fournir des données de commande servant à commander au moins un composant de robot conçu pour effectuer au moins une tâche de construction ou au moins une partie d'une tâche de construction sur un site de construction, comprenant les étapes suivantes consistant à : fournir (10) des données de site de construction comprenant au moins des informations concernant le site de construction et des informations indiquant que ladite au moins une tâche de construction ou ladite au moins une partie de la tâche de construction doit être effectuée sur le site de construction ; fournir (20) des données de capteur comprenant au moins : des données d'état de site de construction comprenant au moins des informations concernant l'état réel du site de construction, et des données d'état de robot comprenant des informations concernant l'état réel dudit au moins un composant de robot ; fournir (30) au moins un modèle de commande conçu pour fournir des données de commande pour ledit au moins un composant de robot sur la base des données de site de construction et des données de capteur ; fournir (40) des données de commande pour ledit au moins un composant de robot à l'aide du modèle de commande, au moins les données d'état de site de construction et les données de capteur étant utilisées en tant que données d'entrée pour le modèle de commande.
PCT/EP2024/084739 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 Pending WO2025120007A1 (fr)

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