Robotic automation of construction tasks is a growing area of research. For robots to successfully operate in a construction environment, sensing technology must be developed which allows for accurate detection of site geometry in a wide range of conditions. Much of the existing body of research on computer vision systems for construction automation focuses on pick-and-place operations such as stacking blocks or placing masonry elements. Very little research has focused on framing and related tasks. The research presented here aims to address this gap by designing and implementing computer vision algorithms for detection and measurement of building framing elements and testing those algorithms using realistic framing structures. These algorithms allow for a stationary RGB-D camera to accurately detect, identify, and measure the geometry of framing elements in a construction environment and match the detected geometry to provided building information modeling (BIM) data. The algorithms reduce identified framing elements to a simplified 3D geometric model, which allows for robust and accurate measurement and comparison with BIM data. This data can then be used to direct operations of construction robotic systems or other machines/equipment. The proposed algorithms were tested in a laboratory setting using an Intel RealSense D455 RGB-D camera, and initial results indicate that the system is capable of measuring the geometry of timber-frame structures with accuracy on the order of a few centimeters.
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This content will become publicly available on January 25, 2025
Timber Construction Automation Using Industrial Robotic Arm Integrated with an Interactive Rail System
Challenged by the prevalent workforce shortage, the construction industry is picking up interest in using robotic arms in construction operations, especially in the context of modular construction and prefabrication. However, the lack of systematic investigations into integrating robotic arms with mobile systems to enhance mobility and operational range has been identified as one main research gap. Stationary robotic arms have inherent limitations in their range, making mobility a critical need. To address that issue, in this paper, the authors proposed a mobile construction robotic system to facilitate their use in the automation of timber frame assembly operation. The authors simulated the system to assess the interactions and coordination among its various components, and to identify potential areas for improvement. This study showcased the effectiveness of the new system design in improving the timber construction automation process and reveals its potential for further exploration in the realm of mobile construction robotics.
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- Award ID(s):
- 1827733
- PAR ID:
- 10518757
- Publisher / Repository:
- American Society of Civil Engineers
- Date Published:
- ISBN:
- 9780784485248
- Page Range / eLocation ID:
- 1014 to 1021
- Subject(s) / Keyword(s):
- Building Information Modeling (BIM) Construction Robotics Construction Simulation Construction Automation
- Format(s):
- Medium: X
- Location:
- Corvallis, Oregon
- Sponsoring Org:
- National Science Foundation
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