Mobile robotic drilling apparatus and method for drilling ceilings and walls

1. A robotic drilling apparatus which has been adapted for drilling holes in ceilings and walls on a construction site, the apparatus comprising:

a robotic arm mounted to a substructure, the substructure comprising a lifting mechanism arranged to lift the robotic arm to a working position;

an internet connection or communication port for accessing and/or retrieving a BIM file,

wherein the robotic arm has a base end and a movable end, the base end being mounted to an upper surface of the lifting mechanism and the movable end being capable of movement with respect to the base end in a three-dimensional space,

wherein the robotic drilling apparatus further comprises a mount provided on the movable end for holding a drilling device and a control unit for controlling the operation of the robotic arm;

wherein the robotic arm includes a plurality of segments configured to pivot and/or rotate with respect to each other to enable the drilling device to be maneuvered about six axes; and

wherein the control unit is configured to analyze a BIM file and determine a schedule of works for the robotic drilling apparatus, determining an order for drilling the holes prescribed in the BIM file.

2. An apparatus as claimed in claim 1 , wherein the control unit is configured to determine an order for a pattern of holes based on hole size.

3. An apparatus as claimed in claim 1 , wherein the control unit is configured to determine an order for a pattern of holes based on location and taking into account reach of the robotic arm.

4. An apparatus as claimed in claim 1 , wherein the control unit is configured to determine one or more locations for positioning the robotic drilling apparatus in the construction site before a drilling operation is commenced.

5. An apparatus as claimed in claim 1 , wherein the control unit comprises a robot server which is configured to determine a finish for the drilled holes.

6. An apparatus as claimed in claim 1 , wherein the apparatus further comprises a total laser station.

7. A method of drilling holes in a ceiling or a wall on a construction site comprising:

providing a robotic drilling apparatus as claimed in claim 1 ;

installing instructions in a memory of the control unit for executing a set of drilling operations;

setting a first location;

activating a drilling operation stored in the memory to cause the robotic arm to execute a set of controlled movements that maneuver the drilling device and drill a pattern of holes in a ceiling or wall in accordance with the installed instructions.

8. A method as claimed in claim 7 , wherein the method includes the step of fitting the robotic arm to an upper surface of a lifting mechanism on a moveable substructure, and raising the robotic arm to a working position prior to drilling a pattern of holes.

9. A method as claimed in claim 8 , wherein the step of installing instructions comprises the control unit accessing or retrieving the BIM file.

10. A method as claimed in claim 9 , further comprising the control unit analyzing the BIM file and then accessing or downloading a library file to determine hole positions for a component or assembly indicated in the BIM file.

11. A method as claimed in claim 7 , wherein the step of installing instructions comprises the control unit accessing or retrieving the BIM file.

12. A method as claimed in claim 11 , further comprising the control unit analyzing the BIM file and then accessing or downloading a library file to determine hole positions for a component or assembly indicated in the BIM file.

13. A method as claimed in claim 7 , further comprising the control unit analyzing the BIM file and determining a schedule of works for the robotic drilling apparatus, including determining an order for drilling the holes prescribed in the BIM file and preferably further determining a finish for the holes.

14. A method as claimed in claim 13 , wherein the control unit determines an order for a pattern of holes based on hole size.

15. A method as claimed in claim 13 , wherein the control unit determines an order for a pattern of holes based on location and taking into account reach of the robotic arm.

16. A method as claimed in claim 13 , wherein the control unit determines one or more locations for positioning the robotic drilling apparatus in the construction site before a drilling operation is commenced.

17. A method as claimed in claim 7 , wherein vibrations are reduced during a drilling operation by creating suction within a shroud on the drilling device.

18. A method as claimed in claim 7 , wherein vibrations are reduced during a drilling operation by using a suspension system to allow the drilling device to vibrate independently of the robotic arm.

19. A method as claimed in claim 7 , wherein the robotic drilling apparatus comprises an inertial measurement unit (IMU) and the method includes the steps of measuring the position of the robotic arm when extended, calculating a compensation for sway in the lifting mechanism, and adjusting the position or angle of the drill to take account of the calculated compensation.

20. A method of drilling holes in a ceiling or a wall on a construction site comprising:

providing a robotic arm mounted to a substructure, the substructure comprising a lifting mechanism arranged to lift the robotic arm to a working position;

installing instructions in a memory of a control unit for controlling the operation of the robotic arm and executing a set of drilling operations;

setting a first location; and

activating a drilling operation stored in the memory to cause the robotic arm to execute a set of controlled movements that maneuver the drilling device and drill a pattern of holes in a ceiling or wall in accordance with the installed instructions,

wherein the robotic arm has a base end and a movable end, the base end being mounted to an upper surface of the lifting mechanism and the movable end being capable of movement with respect to the base end in a three-dimensional space,

wherein the robotic drilling apparatus further comprises a mount provided on the movable end for holding a drilling device and the control unit;

wherein the robotic arm includes a plurality of segments configured to pivot and/or rotate with respect to each other to enable the drilling device to be maneuvered about six axes; and

wherein the apparatus further comprises a total laser station.