Patent ID: 11951616
Assignee: FASTBRICK IP PTY LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G  E | IPC B  E

Claim 17:
18. A robotic block laying system, including:
a) a block laying robot including:
i) a truck base;
ii) a telescopingly extendable and foldable boom mounted to the truck base;
iii) a block laying and adhesive applying head mounted at the end of the boom for receiving blocks transported along the boom from the truck base and laying blocks in a predetermined position; and,

b) a tracking base provided in an environment, the tracking base including:
i) a tracking head support including a platform; and,
ii) at least three tracking heads rigidly mounted to the platform, each tracking head having:
(1) a radiation source arranged to send a radiation beam to a respective target;
(2) a base sensor that senses reflected radiation;
(3) at least one tracking head actuator that controls an orientation of the tracking head; and,
(4) at least one tracking head angle sensor that monitors an orientation of the tracking head;

c) a target system including at least three targets mounted to the block laying and adhesive applying head, each target including a reflector that reflects the radiation beam to the base sensor of a respective tracking head; and,
d) a control system that:
i) causes each tracking head to track a respective target as it moves throughout the environment;
ii) determines a position of each target with respect to a respective tracking head at least in part using signals from:
(1) each base sensor; and,
(2) the at least one tracking head angle sensor;

iii) calculates an orientation of the target system using the determined position of each target; and,
iv) determines the position and orientation of the brick laying and adhesive applying head using at least in part the position and orientation of the target system.