公开(公告)号：US12001761B2

公开(公告)日：2024-06-04

申请号：US16317772

申请日：2017-07-17

申请人： FASTBRICK IP PTY LTD

发明人： Mark Pivac

IPC分类号： G06F30/13 ,  B25J5/00 ,  B25J9/02 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B28D1/00 ,  B28D1/10 ,  B28D1/18 ,  B28D7/00 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/17 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/02 ,  G01C15/00 ,  G01S17/66 ,  G06F111/20

CPC分类号： G06F30/13 ,  B25J5/00 ,  B25J9/023 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1635 ,  B25J9/1638 ,  B25J9/1651 ,  B25J9/1664 ,  B25J9/1674 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1694 ,  B25J13/089 ,  B25J19/021 ,  B25J19/022 ,  B28D1/003 ,  B28D1/10 ,  B28D1/186 ,  B28D7/005 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/1734 ,  B25J9/1697 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/023 ,  G01C15/002 ,  G01S17/66 ,  G05B2219/35207 ,  G05B2219/39001 ,  G05B2219/40257 ,  G05B2219/45086 ,  G06F2111/20

摘要： Computer aided design software for designing a building or other structure of brick construction, where in addition to the usual three dimensional modelling and rendering typical of CAD software, tabular data describing the spatial location and orientation of each brick is provided, including information regarding which bricks are cut to length so as to be shortened, and where they are located along each course, and which bricks are machined, drilled or routed for services or other special fittings. Data pertaining to this is compiled in a database for access by control software to control a brick laying machine to build a building or other structure from bricks. The database may receive via interface with a scanner data being a measure of the elevation of the footings and/or concrete pad that has been constructed according to the building plan and for each brick of the first course, to determine how much material must be machined off the bottom of each brick so that when the first course is laid, the tops of the bricks of the first course are at the same level. This machining data is stored for each brick with the tabular data produced by computer aided design software, so that the control software can control the brick laying machine to machine and cut each brick as per the stored data, and convey each brick to the stored position on the footing, pad or previously laid course of bricks, with application of adhesive prior to positioning of the brick.

公开(公告)号：US11842124B2

公开(公告)日：2023-12-12

申请号：US16317800

申请日：2017-07-17

申请人： FASTBRICK IP PTY LTD

发明人： Mark Pivac

IPC分类号： B25J9/16 ,  B25J5/00 ,  B25J13/08 ,  B25J19/02 ,  B25J9/02 ,  G05B19/4097 ,  G05B19/416 ,  G06F30/13 ,  E04G21/22 ,  G06F16/00 ,  B28D1/00 ,  B28D1/10 ,  B28D1/18 ,  B28D7/00 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  G06F16/17 ,  G01S17/66 ,  B60P3/28 ,  G01C15/00 ,  G06F111/20 ,  E04F21/02 ,  B66C13/22 ,  E04B2/04

CPC分类号： G06F30/13 ,  B25J5/00 ,  B25J9/023 ,  B25J9/161 ,  B25J9/162 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1635 ,  B25J9/1638 ,  B25J9/1651 ,  B25J9/1664 ,  B25J9/1674 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1694 ,  B25J13/089 ,  B25J19/021 ,  B25J19/022 ,  B28D1/003 ,  B28D1/10 ,  B28D1/186 ,  B28D7/005 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/1734 ,  B25J9/1697 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/023 ,  G01C15/002 ,  G01S17/66 ,  G05B2219/35207 ,  G05B2219/39001 ,  G05B2219/40257 ,  G05B2219/45086 ,  G06F2111/20

摘要： A control system for a base supporting a boom assembly comprises long telescopic boom and telescopic stick. Mounted to the remote end of the stick is an end effector that supports a robot arm that moves a further end effector to manipulate the items. The robot arm has a robot base, and mounted above the robot base is a first target in the form of a position sensor, that provides position coordinates relative to a fixed ground reference. Mounted on the end of the robot arm immediately above the end effector is a second target that provides position coordinates relative to the fixed around reference. The fixed ground reference tracks the sensors and feeds data to the control system to move the stick with slow dynamic response and to control movement of the robotic arm and end effector with fast dynamic response.

公开(公告)号：US12073150B2

公开(公告)日：2024-08-27

申请号：US16631404

申请日：2018-07-16

申请人： FASTBRICK IP PTY LTD

发明人： Mark Joseph Pivac ,  James Gary Robertson

IPC分类号： B25J9/00 ,  B25J5/00 ,  B25J9/02 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B28D1/00 ,  B28D1/10 ,  B28D1/18 ,  B28D7/00 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/17 ,  G06F30/13 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/02 ,  G01C15/00 ,  G01S17/66 ,  G06F111/20

CPC分类号： G06F30/13 ,  B25J5/00 ,  B25J9/023 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1635 ,  B25J9/1638 ,  B25J9/1651 ,  B25J9/1664 ,  B25J9/1674 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1694 ,  B25J13/089 ,  B25J19/021 ,  B25J19/022 ,  B28D1/003 ,  B28D1/10 ,  B28D1/186 ,  B28D7/005 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/1734 ,  B25J9/1697 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/023 ,  G01C15/002 ,  G01S17/66 ,  G05B2219/35207 ,  G05B2219/39001 ,  G05B2219/40257 ,  G05B2219/45086 ,  G06F2111/20

摘要： A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

公开(公告)号：US11687686B2

公开(公告)日：2023-06-27

申请号：US17382136

申请日：2021-07-21

申请人： FASTBRICK IP PTY LTD

发明人： Mark Pivac

IPC分类号： E04G21/22 ,  G06F30/13 ,  B25J9/16 ,  G05B19/4097 ,  G06F16/00 ,  B28D1/00 ,  B28D1/10 ,  B28D1/18 ,  B28D7/00 ,  B28D7/04 ,  B25J5/00 ,  B25J19/02 ,  B60P1/48 ,  B25J13/08 ,  B25J9/02 ,  E04B1/02 ,  G06F16/17 ,  G05B19/416 ,  G01S17/66 ,  B60P3/28 ,  G01C15/00 ,  G06F111/20 ,  E04F21/02 ,  B66C13/22 ,  E04B2/04

CPC分类号： G06F30/13 ,  B25J5/00 ,  B25J9/023 ,  B25J9/161 ,  B25J9/162 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1635 ,  B25J9/1638 ,  B25J9/1651 ,  B25J9/1664 ,  B25J9/1674 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1694 ,  B25J13/089 ,  B25J19/021 ,  B25J19/022 ,  B28D1/003 ,  B28D1/10 ,  B28D1/186 ,  B28D7/005 ,  B28D7/04 ,  B60P1/48 ,  E04B1/02 ,  E04G21/22 ,  G05B19/4097 ,  G05B19/416 ,  G06F16/00 ,  G06F16/1734 ,  B25J9/1697 ,  B60P3/28 ,  B66C13/22 ,  E04B2/04 ,  E04F21/023 ,  G01C15/002 ,  G01S17/66 ,  G05B2219/35207 ,  G05B2219/39001 ,  G05B2219/40257 ,  G05B2219/45086 ,  G06F2111/20

摘要： A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.

公开(公告)号：US20190251210A1

公开(公告)日：2019-08-15

申请号：US16317772

申请日：2017-07-17

申请人： FASTBRiCK IP PTY LTD

发明人： Mark PIVAC

IPC分类号： G06F17/50 ,  G06F16/17 ,  G05B19/416 ,  B25J9/16

CPC分类号： B25J9/1635 ,  B25J9/1638 ,  B25J9/1679 ,  B25J9/1697 ,  B66C13/22 ,  E04B2/04 ,  E04G21/22 ,  G01S17/66 ,  G05B19/4097 ,  G05B19/416 ,  G05B2219/40257 ,  G05B2219/45086 ,  G06F16/00 ,  G06F16/1734 ,  G06F17/5004 ,  G06F2217/02

摘要： Computer aided design software for designing a building or other structure of brick construction, where in addition to the usual three dimensional modelling and rendering typical of CAD software, tabular data describing the spatial location and orientation of each brick is provided, including information regarding which bricks are cut to length so as to be shortened, and where they are located along each course, and which bricks are machined, drilled or routed for services or other special fittings. Data pertaining to this is compiled in a database for access by control software to control a brick laying machine to build a building or other structure from bricks. The database may receive via interface with a scanner data being a measure of the elevation of the footings and/or concrete pad that has been constructed according to the building plan and for each brick of the first course, to determine how much material must be machined off the bottom of each brick so that when the first course is laid, the tops of the bricks of the first course are at the same level. This machining data is stored for each brick with the tabular data produced by computer aided design software, so that the control software can control the brick laying machine to machine and cut each brick as per the stored data, and convey each brick to the stored position on the footing, pad or previously laid course of bricks, with application of adhesive prior to positioning of the brick.