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    Brick/block laying machine incorporated in a vehicle
    3.
    发明授权
    Brick/block laying machine incorporated in a vehicle 有权

    公开(公告)号：US11106836B2

    公开(公告)日：2021-08-31

    申请号：US16823596

    申请日：2020-03-19

    Applicant: FASTBRICK IP PTY LTD

    Inventor： Mark Pivac

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

    Abstract: 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.

    VISION SYSTEM FOR A ROBOTIC MACHINE
    4.
    发明申请
    VISION SYSTEM FOR A ROBOTIC MACHINE 有权

    公开(公告)号：US20210192784A1

    公开(公告)日：2021-06-24

    申请号：US17273487

    申请日：2019-09-04

    Applicant: FASTBRICK IP PTY LTD.

    Inventor： John Francis TAYLOR

    IPC: G06T7/73 ,  G06T1/00 ,  B25J9/16 ,  B25J19/02 ,  G06F30/00

    Abstract: The present disclosure relates to a method for determining a pose of an object in a local coordinate system of a robotic machine, the method including: capturing at least one image of a first face of the object and at least one image of at least a portion of a second face of the object; generating a point cloud representation of at least part of the object using image data obtained from the captured images of the first and second faces; fitting a first plane to the first face of the object and fitting a second plane to the second face of the object using the point cloud representation; determining a pose of the first plane and a pose of the second plane; retrieving a shape model of at least the first face of the object; locating the shape model in the local coordinate system using at least in part the at least one image of the first face; and, determining the pose of the object in the local coordinate system. A vision system and robotic machine are also disclosed.

    COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM
    5.
    发明申请
    COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM 有权

    公开(公告)号：US20210016437A1

    公开(公告)日：2021-01-21

    申请号：US16639485

    申请日：2018-08-16

    Applicant: FASTBRICK IP PTY LTD

    Inventor： Mark Joseph Pivac

    IPC: B25J9/16 ,  B25J5/00 ,  B25J13/08 ,  B25J19/00 ,  G01S17/66 ,  G01S17/42 ,  E04G21/16 ,  G05B19/4155

    Abstract: A system for performing interactions within a physical environment, the system including: a robot having a robot base that undergoes movement relative to the environment and a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a communications system including a fieldbus network; a tracking system including a tracking base positioned in the environment and connected to the fieldbus network, and a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and a control system that communicates with the tracking system via the fieldbus network to determine the relative position and/or orientation of the tracking target and controls the robot arm in accordance with the relative position and/or orientation of the tracking target.

    VIRTUAL ROBOT BASE
    7.
    发明申请
    VIRTUAL ROBOT BASE 审中-公开

    公开(公告)号：US20200215693A1

    公开(公告)日：2020-07-09

    申请号：US16631420

    申请日：2018-07-16

    Applicant: FASTBRICK IP PTY LTD

    Inventor： Mark Joseph Pivac ,  James Gary Robertson

    IPC: B25J9/16 ,  G05B19/4097 ,  G05B19/416 ,  E04G21/22

    Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base 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 tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

    BOOM FOR MATERIAL TRANSPORT
    8.
    发明申请
    BOOM FOR MATERIAL TRANSPORT 审中-公开

    公开(公告)号：US20190352146A1

    公开(公告)日：2019-11-21

    申请号：US16317779

    申请日：2017-07-14

    Applicant: FASTBRICK IP PTY LTD

    Inventor： Mark Pivac

    IPC: B66C23/42 ,  B66C23/68 ,  B66C23/70 ,  E04G21/16

    Abstract: A telescoping extendable boom and a foldable telescoping extendable boom for transporting an item, are disclosed. The foldable telescoping extendable boom having tubular elements (12) and (14) and (15, 17, 18, 19) and (20) each arranged with a longitudinally extending track (25, 29) inside the tubular element. Each longitudinally extending track (25, 29) supports a single shuttle (26) and (30) respectively, internally inside its tubular element (17) and (15), respectively, for movement therealong. Each shuttle (26) and (30) is equipped with a clamp (27) and (30) to selectively clamp the item (298). The longitudinally extending tracks (25, 29) of immediately connecting telescoping tubular elements (17) and (15) are located opposite each other. The inner tubular elements inside said telescoping extendable boom are arranged at their near ends to allow their shuttles to access shuttles of outer tubular elements to enable the clamps (27) and (31) thereof to transfer a said item (298) therebetween.

    Position and orientation tracking system
    10.
    发明授权
    Position and orientation tracking system 有权

    公开(公告)号：US11951616B2

    公开(公告)日：2024-04-09

    申请号：US17293216

    申请日：2019-11-14

    Applicant: FASTBRICK IP PTY LTD

    Inventor： Mark Joseph Pivac

    IPC: B25J19/02 ,  B25J11/00 ,  B25J13/08 ,  E04G21/22

    CPC classification number: B25J19/022 ,  B25J13/089 ,  B25J11/005 ,  E04G21/22 ,  G05B2219/45086

    Abstract: The present disclosure relates to a tracking system for tracking a position and orientation of an object, the tracking system including: a tracking base provided in an environment, the tracking base including: a tracking head support; and, at least three tracking heads mounted to the tracking head support, a target system including at least three targets mounted to the object, each target including a reflector that reflects a radiation beam to the base sensor of a respective tracking head; and, a control system that: causes each tracking head to track a respective target as it moves throughout the environment; determines a position of each target with respect to a respective tracking head; determines an orientation of the target system using at least in part the determined position of each target; and, determines the position and orientation of the object using at least in part the position and orientation of the target system.

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