| 建筑施工机器人研究进展 |
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| 引用本文： | 陈 翀,李 星,,邱志强,姚 伟,,祝 贺.建筑施工机器人研究进展[J].建筑科学与工程学报,2022,0(4):58-70. |
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| 作者姓名： | 陈 翀 李 星 邱志强 姚 伟 祝 贺 |
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| 作者单位： | (1. 清华大学 建筑学院,北京 100084; 2. 华南理工大学 工商管理学院,广东 广州 510640; 3. 广东博智林机器人有限公司,广东 佛山 528312; 4. 中山大学 地球科学与工程学院,广东 珠海 519082; 5. 北京建筑大学 建筑与城市规划学院,北京 100044) |
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| 摘 要： | 为了拓宽建筑机器人的研究思路和推广建筑机器人的应用,对国内外建筑施工机器人的研究进展进行了详细阐述。总结了建筑机器人的发展历程和系统组成,从主体结构施工、装修施工和其他新型施工机器人系统三方面对建筑施工机器人进行分类汇总,介绍了机器人的关键技术、性能优势和发展方向等内容。最后从研发设计、管理运维和人才培养等角度提出了建筑施工机器人的发展建议。结果表明:砌砖机器人产品存在依赖人工操作、使用非常规建材等问题,其机械臂的运动轨迹和任务规划是未来的研究热点; 基于激光标定技术的混凝土地面处理机器人智能化程度不高,需开发稳定高效的自主定位导航系统; 墙地面打磨机器人关键指标为施工精度和稳定性,可通过优化算法模型和引入高精度传感器进行提升; 室内喷涂机器人多为“6+3+1”自由度结构,对比手工喷涂具有明显的技术优势,但其自主化程度需进一步加强,而外墙喷涂机器人在稳定性、安全性和可靠性方面的性能要求更高,需提高作业覆盖率和实用性; 瓷砖铺贴机器人的发展离不开结构设计、瓷砖定位技术和铺贴轨迹规划等关键技术的研究,存在适用瓷砖尺寸单一和控制复杂等问题; 3D打印机器人通过优化结构设计提升作业灵活性,将朝着轻量化、智能化和低成本方向发展,而测量机器人主要利用三维激光扫描技术实现自动化测量,但面临着数据易丢失、人员活动范围受限和成本高等问题。
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| 关 键 词： | 建筑施工机器人 主体结构施工 装修施工 新型施工机器人 关键技术 发展方向 |
Research Progress of Construction Robots |
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| CHEN Chong,LI Xing,,QIU Zhi-qiang,YAO Wei,,ZHU He.Research Progress of Construction Robots[J].Journal of Architecture and Civil Engineering,2022,0(4):58-70. |
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| Authors: | CHEN Chong LI Xing QIU Zhi-qiang YAO Wei ZHU He |
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| Affiliation: | (1. School of Architecture,Tsinghua University, Beijing 100084, China; 2. School of Business Administration, South China University of Technology, Guangzhou 510640, Guangdong, China; 3. Guangdong Bright Dream Robotics Company, Foshan 528312, Guangdong, China; 4. School of Earth Sciences and Engineering, Sun Yat-sen University, Zhuhai 519082, Guangdong, China; 5. School of Architecture and Urban Planning, Beijing University of Civil Engineering and Architecture, Beijing 100044, China) |
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| Abstract: | In order to broaden the research ideas and promote the application of construction robots, the domestic and foreign research progress of construction robots was expounded in detail. The development history and the system composition of construction robots were summarized. The construction robots were classified and summarized from three aspects: main structure construction, decoration construction and other new construction robot systems. The key technologies, performance advantages and development direction of the robot were introduced. Lastly, the suggestions for the development of construction robots from the perspectives of design, management and maintenance, and worker training were put forward. The results show that the brick-laying robot products have problems such as relying on manual operation and using unconventional building materials, and the future research hotspots of brick-laying robots are the motion trajectory and task planning of arm.The concrete floor treatment robots based on laser calibration technology lack enough intelligence, which need to develop a stable and efficient autonomous positioning and navigation system. The key indicators of wall and ground polishing robots are construction accuracy and stability, which can be improved by optimizing the algorithm model and introducing high-precision sensors. Most of indoor spraying robots own the “6+3+1” degrees of freedom structure, which have obvious technical advantages compared with manual spraying, but their autonomy need to be further strengthened.While the exterior wall spraying robots have higher performance requirements in terms of stability, safety and reliability, and need to improve the operation coverage and practicability. The tile laying robots are in need of the research on key technologies such as structural design, tile positioning technology and paving trajectory planning, which exist the problems such as the single size of applicable tiles and complex control. 3D printing robots improve the operational flexibility by optimizing structural design, and will develop in the direction of light weight, intelligence and low cost. The measuring robots mainly use 3D laser scanning technology to realize automatic measurement, but face the problems of data loss, limited personnel activities and high cost, etc. |
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| Keywords: | construction robot main structure construction decoration construction new construction robot key technology development direction |
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