Design and synthesis of the localization system for the onsite construction robot

Wen Pana, Rui Lib, Thomas Bocka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Building tasks that carry out on the building facąde, such as painting, cleaning, and maintenance are often to be described as dangerous, dirty, and demanding. Recently, researchers and institutes are developing autonomous and semiautonomous On-site Construction Robots (OCR) for those aforementioned applications. The most of facąde working OCR is either suspended or supported by the secondary structure. The biggest challenges for these types of methods are obtained stability while carrying out the task against external elements such as wind and inertia caused by the step motors. There are very limited resources that discuss positioning and stabilizing methods. In this paper, a novel localization system for OCR will be introduced, which is based on the on-site construction robot commissioned by The Construction Industry Council Hong Kong (CIC) and developed by the Chair of Building Realization and Robotics (br2) at Technical University of Munich (TUM). The research presents the preliminary concept of a stabilization method that can be adopted on most of the suspended OCR type. The proposed system will localize the initial position, alter the OCR into the correct working pose, and secure the system to place. At the time of this writing, it is only limited to the conceptualization and proof of concept of the system. The control scheme is validated in simulation. The proposed approach is expected to be expanded into other applications in the future.

Original languageEnglish
Title of host publicationProceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020
Subtitle of host publicationFrom Demonstration to Practical Use - To New Stage of Construction Robot
PublisherInternational Association on Automation and Robotics in Construction (IAARC)
Pages1501-1507
Number of pages7
ISBN (Electronic)9789529436347
StatePublished - 2020
Externally publishedYes
Event37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020 - Kitakyushu, Online, Japan
Duration: 27 Oct 202028 Oct 2020

Publication series

NameProceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot

Conference

Conference37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020
Country/TerritoryJapan
CityKitakyushu, Online
Period27/10/2028/10/20

Keywords

  • Construction robotic
  • Localization
  • Stabilization

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