CAREER: Hybrid 3D Unstructured Workspace Modeling: A Critical Component in Developing an Automated Construction Site

职业：混合 3D 非结构化工作空间建模：开发自动化施工现场的关键组件

• 批准号: 1055788
• 负责人: Yong Cho
• 金额: $ 40万
• 依托单位: University of Nebraska-Lincoln
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-07-01 至 2013-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1055788&HistoricalAwards=false
• 关键词: CAREER; Hybrid; 3D; Unstructured; Workspace

The objective of this Faculty Early Career Development (CAREER) program award is to create an innovative 3D workspace visualization method, which will enable automated construction equipment to safely and efficiently handle construction materials for robotic field erection and connection. Robotic construction material handling requires both rapid visualization of the workspace and highly accurate position data for safe and secure physical contact between a target object and a robot. These are difficult to achieve with current sensor technologies. To meet this challenge, a target-focused range data collection and modeling method will be researched through a hybrid approach that integrates a light-weight 3D laser scanner with secondary and tertiary sensory devices such as a laser rangefinder and an infrared camera. A hybrid system mountable on a robot or piece of equipment will significantly reduce data collection time while enhancing data accuracy. Automatic target detection and model-based fitting and matching algorithms will be developed for various shapes of construction material components. The hybrid approach will be tested using real-world robotic test beds, including a multi-joint arm robot at the University of Nebraska-Lincoln and a bolting robot and a robot crane located within Korea University's automated building construction system. If successful, the results of this research will enhance the development of more intelligent and automated construction job sites and manufacturing processes by providing a fully sensed, monitored environment for materials, equipment, and operators. This research will also positively impact the environment by reducing the enormous amount of construction waste, which will greatly benefit the construction industry and society in general. Finally, this project has strong educational plans that will nurture tomorrow's leaders in engineering and science, promote lifelong learning for industrial practitioners, and broaden participation of underrepresented groups in research.

该教师早期职业发展（CAREER）计划奖项的目标是创建一种创新的3D工作空间可视化方法，这将使自动化施工设备能够安全有效地处理建筑材料，以进行机器人现场安装和连接。机器人建筑材料搬运需要工作空间的快速可视化和高度准确的位置数据，以实现目标物体和机器人之间安全可靠的物理接触。这些是目前的传感器技术难以实现的。为了应对这一挑战，将通过一种混合方法研究一种以目标为焦点的范围数据收集和建模方法，该方法将轻型3D激光扫描仪与二级和三级传感设备（如激光测距仪和红外相机）集成在一起。安装在机器人或设备上的混合系统将大大减少数据收集时间，同时提高数据准确性。将为各种形状的建筑材料部件开发自动目标检测和基于模型的拟合和匹配算法。混合方法将使用真实世界的机器人测试台进行测试，包括内布拉斯加大学林肯分校的多关节臂机器人和位于高丽大学自动化建筑施工系统内的螺栓连接机器人和机器人起重机。如果成功，这项研究的结果将通过为材料，设备和操作员提供一个完全感知，监控的环境，促进更智能和自动化的建筑施工现场和制造过程的发展。这项研究还将通过减少大量的建筑垃圾对环境产生积极的影响，这将大大有利于建筑业和整个社会。最后，该项目有强有力的教育计划，将培养未来的工程和科学领导者，促进工业从业者的终身学习，并扩大代表性不足的群体在研究中的参与。