Construction Robotics and Automation Research at Taisei

Abstract: The aim of this paper is to focus on special items of research and development (R&D) areas in which Taisei Corporation is active, to discuss some of the issues involved in automation research and the importance of information management in automation and robotics, and to delve into the possible future of construction robotics and automation. In the first section we break automation and robotics down into four levels: simple mechanization, robots, mechanized construction systems, and fully automated construction. Each is discussed separately and, with the exception of fully automated construction, examples of R&D in each category are described. This gives the reader a glimpse of what a general contractor in Japan is currently doing. In the second section we describe information-integrated construction (IIC), which can be defined as the use of computer technology to collect, store, manipulate, enhance, and display construction information and expertise as a way to streamline the construction process.     

Robots and automated systems for the civil and construction industries

Coping with the increasing shortage of skilled labour, the demands for higher productivity and quality and the inroads of external competition provides a sufficient argument for an increased level of automation in the civil and construction industry. Elsewhere in manufacturing, automation has been brought about by the adoption of more general purpose machines and robots to replace dedicated, and less flexible, items of equipment. By linking such items together through the use of local area networks and factory wide systems the control of product flow and the rescheduling of work to meet demand has been significantly enhanced. Also a mechatronic approach to the design of integrated systems (combining electronic and mechanical engineering and computer technology) provides a further influence upon the design and adoption of automated systems. While the environment of a civil engineering site is a far more unstructured environment than that of a factory, requiring greater flexibility and adaptability from the equipment deployed, the range of opportunities for the deployment of automated systems is nevertheless significant. Therefore this paper considers the requirements for introducing robotic systems within the civil and construction industries and examines the possibility of introducing a particular item of automated plant, namely a robotic excavator. Site requirements are also considered in relation to the introduction of a range of automation and robotic technologies.     

Driving forces and status of automation and robotics in construction in Europe

Automation and robotics in Europe are concentrated on concrete and asphalt mixing, concrete block and pipe making, precast concrete units and masonry prefabrication, control of mobile construction machinery, tunnelling, and renewing of buildings and sewers. The development has been going at a slow pace, because not all prerequisites to the introduction of these new technologies are fulfilled in the construction industry. Limited need for construction works on one hand, and shortage of skilled workers as well as new demands and tasks on the other hand stimulate the development—performed by manufacturers, construction companies, universities and institutes—in different ways. However, a survey around a lot of European specialists allows to draw a uniform picture of the driving forces and the current status of research, development, and usage of automation and robotics in construction (ARC).     

Design and development of robotic collaborative system for automated construction of reciprocal frame structures

Robotic technologies have shown their potential to improve efficiency, precision, and safety for construction tasks. In this paper, the concept of design for robotic construction (DfRC) is introduced, and robotic collaborative systems are developed for the construction of load-carrying structures. An automated structural assembly was achieved and demonstrated through robotics with a preference for reciprocal frame (RF) structures. Key innovations include the use of magnetic temporary connections to minimize offsets of mobile robots and linear actuators as temporary supports during construction. Furthermore, specific procedures are formulated to navigate the robots and to target and install the components using a fiducial marker system and simultaneous localization and mapping packages, with consideration of structural deformation during construction due to self-weight. The successful assembly of a 4.5-m span RF structure demonstrates the potential of DfRC and the proposed robotic collaborative system in the automated construction of load-carrying structures.     

Automous Construciton Robots

Abstract: This paper describes some of the results of the authors' research on autonomous construction robotics. The objective of our research is to find out whether autonomous construction robots are feasible or not, and how autonomous construction robotics might be achieved. The paper presents the information technologies required and an initial (simulated) example of an autonomous tiling robot.     

Distributed Control of a Multiple Tethered Mobile Robot System for Highway Maintenance and Construction

The development of a distributed control system for a multiple mobile robot system is described. The mobile robots considered have been termed tethered mobile robots (TMRs). The TMRs are differentially steered, wheeled mobile robots tethered to a support vehicle, and they have been designed for automating highway maintenance and construction. The control system consists of a network of a host computer and several real‐time dynamic controllers running under Windows for Workgroups and DOS operating systems, respectively. Advanced industrial embedding technology is applied to the hardware design, and the system's fault‐tolerance is achieved from a distributed architecture and overall condition monitoring. The object‐oriented and hardware‐independent software programming provides a graphic user interface and flexibility for a large number of highway maintenance and construction tasks. It also provides convenience for any other mobile robotics research applications.     

BIM应用的效益评价研究

随着现代技术的发展,传统二维纸质文件的工作模式与技术手段已不能满足建筑业的各种挑战,信息技术尤其是BIM技术的应用,对于建筑行业的发展具有显著价值。该文从决策效率、造价控制、建设管理等方面分析了BIM应用所产生的效益,并从财务、生产、组织、管理、战略方面提出了一系列评价指标体系。     

高层建筑自动化建造体系

现代科技的发展使建筑工程自动化建造成为可能,建筑自动化施工可提高工作效率和工程质量、缩短建设周期、改善施工现场的工作环境。通过介绍国外已开发的几种具有代表性的高层建筑自动化体系,并分析其体系特点,为我国发展自动化建造施工方法提供参考和借鉴。     

Balancing Human-and-Robot Integration in Building Tasks

Abstract:   In the last two decades, a wide range of robotic systems for interior construction tasks was being examined (mainly by research and development institutions around the world). A main parameter that differentiates between these systems is their level of autonomy. Reducing the level of autonomy of a given robotic system necessitates increasing auxiliary human work. The efficiency of the system as a whole (i.e., robot/s + operator/s + worker/s) must be examined in order to determine the proper balance between robots and human beings. This article presents the development of a methodology for evaluating a robotized construction task by examining and comparing various ways to share the work between robots and human operators and workers. The methodology is demonstrated by implementing it on two interior finishing tasks—block laying and wall painting. Testing these tasks included full-scale experiments. The detailed analyses of these two applications show the breakeven points of profitable robotic systems, depending on the combination of their own cost, the hourly cost of construction workers, and the expected hourly cost of construction-robot operators in a given labor market. The results lead to a better understanding of possible human-and-robot integration. In particular, this article provides researchers and developers of construction robotics with a systematic approach for evaluation and validation of various ideas prior to investing resources in actual prototypes.     

智能建筑火灾自动报警与消防联动系统研究

智能建筑(IB)业迅猛发展促使其安全保障核心—消防自动化系统(BAS)向信息网络化、功能高度集成化方向迅速迈进。火灾自动报警系统是BAS重中之重,担负着保护人员以及建筑物财产安全的重任。基于此研究了智能建筑中火灾自动报警系统的信息网络化设计理念与关键技术。探讨了火灾自动报警系统的子系统——探测机构、智能控制系统、执行机构、联动控制机构等设计要点。论述了FAS与其他智能系统集成融合的核心技术。系统实现了远程双向传输控制,对智能建筑消防系统的设计有一定的指导意义。     

Automation and robotics in construction: a challenge and a chance for an industry in transition

Due to the prevailing prototype-oriented and mostly unstructured approach to construction, the introduction of self-optimizing and self-organizing systems (e.g. robots) will require organizational adjustments on the construction site as well as in the planning and design phase. Issues such as safety, job enrichment, high quality, vanishing craftsmanship, optimal usage of resources and preventive maintenance, are basic incentives to study the application of both system theory and cybernetics to construction operations. It is almost inevitable that intelligent machines will find their way into construction. Without question, both the fragmentary nature and the size of this industry make it unreceptive to revolutionary changes. In addition, there are many institutional barriers. Despite these facts, there are signs that forecast a transition period in construction, and they are becoming more and more visible. This paper provides a systematic insight into the prospect of an evolutionary development which may have already started.     

The future of construction automation: Technological disruption and the upcoming ubiquity of robotics

The following article reviews past and current tendencies and derives and describes opportunities for future construction automation that go beyond the current notion of construction automation. Various indicators suggest that conventional construction methodology has reached its limits. An overlay of S-curves can be used to describe the relationship between the stagnation and technical limits of conventional construction and the initiation, development, and growth of new strategies and technologies of construction automation. Although approaches of construction automation are still in an innovation or seed phase, it can be expected that with continued effort put into research and development these approaches may soon enter into the growth phase and encounter adoption on a larger scale. Furthermore, the article shows that over time, the ability of robot systems has grown, allowing them to work more and more in comparably unstructured environments as well as to be deployed in numerous and diverse fields. Currently, it can already be observed that construction automation technology, STCR approaches, service robot systems, and other microsystems technology are merging with the built environment, becoming inherent elements of buildings, building components, and building furniture.     

Development of conceptual model of construction factory for automated construction

The building construction industry has adapted well to the need to overcome traditional problems of safety, productivity, and quality on construction sites. Advanced technologies and systems developed outside the building industry are also being introduced to meet the new demands of today's challenges. In particular, the high-tech robots used in the erection of structural steel frames in high-rise buildings in order not to expose human workers to unsafe conditions. In addition, an automated construction system based on improved bolting robots has been developed in Korea. However, the harsh environment of construction sites adversely affects the various sensitive machines, sensors, and devices that comprise the robot construction systems. To minimize the effects of the adverse environment on robot performance, it is believed that a Construction Factory (CF) is required. This is a special workspace providing a stable and favourable work environment for the construction robot. In this study, we developed several CF alternatives for the realization of more desirable automated construction environment, and evaluated them from the aspects of wind speed and air temperature using Computational Fluid Dynamics (CFD) simulation. The results showed that a CF with a closed roof and bottom was the best CF option for robot construction, and it can be helpful to reduce the potential cost overruns and time delays for CF construction.     

建筑施工机器人研究进展

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。     

Robot-based construction automation: An application to steel beam assembly (Part II)

The construction industry involves many dangerous and messy environmental factors which cause poor working conditions for construction laborers. Replacing human laborers with robotic systems has many advantages such as increased quality, productivity and safety. The current trends in construction with high-rise buildings have accelerated attempts to employ robotic technologies in the construction industry. Recently in South Korea, a robot-based construction automation system for high-rise buildings was finished with successful field application results. This project is composed of a few subprojects involving construction and robot technologies. Among several parts of the project, this paper deals with the development of a robotic transport mechanism administrated by the robot research group of the project. This system consists of a cross-wired lift and a rail sliding mechanism. Each system performs a vertical and horizontal transfer of a robotic beam assembly (RBA) system which is discussed in a companion paper, ‘Robot-Based Construction Automation: An Application to Steel Beam Assembly (Part I).’ This paper accounts for the designs, functions, specifications and structural analyses of each system and presents an RBA control system, including a human–machine interface to operate the integrated system. The real prototype of the proposed system was manufactured and intensive tests were conducted in a test bed. In addition, a field application test was added for evaluating the feasibility in real construction sites. We showed the possibility of replacing human laborers with the robotic system in high-rise building construction.     

Color tracking for multiple robot control using a system-on-programmable-chip

A new trend in construction is the emerging technologies to accommodate personal indoor robots moving among occupants and assisting them. In many circumstances, the coordination of multiple robots is required for task execution, whereby it is important to cooperatively control robots to navigate in a desired formation. For this, real-time information of each robot's location can be made available via the use of computer vision technologies. This paper presents the development of a digital camera surveillance system that can track color tags of moving robots in an indoor environment. The system, which comprises image demosaicking, color detection, relative distance estimation and moving object tracking, is designed for controlling a number of miniature robots, utilizing the system-on-programmable-chip technology. Here, essential issues of real-time computation and low power consumption are simultaneously resolved with register-transfer level and gate circuits. Experimental results are provided for verification. An emphasis is given to construction applications.     

Robot-based construction automation: An application to steel beam assembly (Part I)

The construction industry has not traditionally been a favorable field for the application of robotic technologies. However, various motivations such as the shrinking labor population, the aging of skilled workers, and the safety issue of ironworkers have promoted the development of robotic construction systems. In this research, one of those trials, a project entitled “Robot-based construction automation system for high-rise building” is presented. Among diverse construction works, this project focused on a robotic automation of the steel beam assembly. The project is a cooperative effort between a robot research group and a construction automation group in South Korea. The main objective of this paper is to an introduction for the development of a robotic beam assembly system administered by the robot research group. The robotic beam assembly system consists of a robotic bolting device that performs the main function for the beam assembly work and a robotic transport mechanism that transports the robotic bolting device to target bolting positions around a building under construction. This paper presents the specific functions, structures, and mechanisms of the robotic bolting device and accounts for the application of the visual servo control technique to a bolting control system which is a software component. The robotic transport mechanism part is discussed in a companion paper [14]. The real prototype of the proposed system was manufactured and intensive field tests were conducted in a test bed. Moreover, this system was applied to a section of a real building, the Robot Convergence Building of Korea University, South Korea, which has one story below and seven above the ground, and obtained a feasibility of an application of the robotic beam assembly system to actual construction sites. The suggested system is expected to be a promising alternative to ironworkers in the steel beam assembly in terms of safety and time-efficiency.     

IT usage in Alberta's building construction projects: Current status and challenges

The Construction Industry lags behind other industries in its acquisition and use of modern technology. As a result construction workers are dissatisfied with the level and availability of communication systems and channels. Construction managers are not confident to acquire modern technologies to the construction workplace, because of the unavailability of information on worker abilities, available technologies, possible outcomes, related costs and benefits and so on. Technology providers are also lagging in the understanding of the information related to construction industry specific needs. There were no direct studies noted in Canada that were focusing the construction stakeholder views — workers, managers, and technology providers — related to the information technology (IT). This paper presents the views of three different construction industry stakeholders regarding the possibilities and opportunities in using Information Technology in construction project to improve communication and worker satisfaction. The paper ends with a set of recommendations for enhancing the usage of IT tools and systems on construction projects.