Methods, systems and devices for automated assembly of building structures

A method for automated assembly of building structures, the method comprising:

• analyzing assembly data associated with assembling building parts to construct a building structure, the assembly data identifying:
• a positional configuration of each of the building parts relative to other building parts in the assembled building structure, and
• a fastening configuration for the building parts in the assembled building structure;
• based on the analyzing, determining an assembly sequence for assembling the building parts to construct the building structure, wherein the assembly sequence comprises a plurality of assembly tasks;
• generating robot-specific control instructions, for each of one or more assembly robots in a robotic assembly cell, to execute the assembly sequence;
• and
• transmitting the robot-specific control instructions to the one or more assembly robots in the robotic assembly cell, the assembly robots being configured to execute the control instructions to assemble the building structure,
• wherein the assembly sequence includes a sequence of multiple assembly states starting from an initial assembly state having nothing assembled to a final assembly state having all the building parts assembled to construct the building structure, each assembly state corresponding to one or more of the assembly tasks and determining the assembly sequence comprises:
• iterating, starting from the initial assembly state and for each subsequent assembly state, to determine a viable assembly sequence path to reach the final assembly state by,
• determining possible assembly actions, each possible assembly action including a selection of next building part to be assembled, wherein a placement location of the selected building part is constrained relative to other building parts included in that assembly state based on the positional configuration;
• for each possible assembly action, determining one or more available action variants subject to availability constraints imposed by the positional configuration and the fastening configuration;
• ranking the possible assembly actions based on at least one of:
• (i) a number of available action variants for each of the possible assembly actions and (ii) a number of subsequent possible assembly actions in a subsequent assembly state blocked by the possible assembly action;
• selecting a top ranked possible assembly action based on the ranking;
• determining if the assembly sequence is complete as a result of applying the top ranked possible assembly action;
• and
• updating current assembly state to subsequent assembly state in response to determining that the assembly sequence is not complete.