Patent ID: 8166727
Filing Date: 2012-05-01
Classification: B25J,E04G,G05B

Abstract:
1. An automated brick laying system for constructing a building from a plurality of bricks comprising: a brick laying robot provided with a base coupled at one end to a moveable support structure and a brick laying and adhesive applying head coupled to an opposite end of the moveable support structure, the head comprising at least one manipulator operable to lay bricks; a measurement system which measures the position in real time of the head and produces corresponding position data, wherein the measurement system includes a non-contact optical line-of-sight position measuring system remotely located away from said base to view a target located on the opposite end of the moveable support structure; and a controller which receives the position data and produces control data on the basis of a comparison between the position data and a stored predetermined position for the head to lay a brick at a predetermined location for the building, the controller controlling the moveable support structure to provide coarse positioning of the head and controlling the at least one manipulator to provide fine positioning of the bricks, wherein the fine positioning provides finer positioning than the coarse positioning, and wherein the controller controls the moveable support structure to move with a slow dynamic response, and controls the at least one manipulator to move with a fast dynamic response to compensate for structural dynamic effects and deflection of said moveable support structure, wherein the fast dynamic response is faster than the slow dynamic response.