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BIM-based task-level planning for robotic brick assembly through image-based 3D modeling

机译：通过基于图像的3D建模基于BIM的机器人砖装配任务级计划

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摘要

The application of robotics in the assembly of building bricks has become a popular topic, while the planning of construction robots is still lagged far behind the manufacturing industry. New robotic assembly task with manual teaching-planning method is always time consuming. A task-level planning method was proposed, and the implementation details were described to improve the planning efficiency of robotic brick assembly without affecting accuracy. In this work, a BIM (Building Information Model)-based robotic assembly model that contains all the required information for planning was proposed. Image-based 3D modeling was utilized to help the calibration of the robotic assembly scene and building task models. The placement point coordinates of each assembly brick were generated in the robot base coordinate system. Finally, three different building information model tasks of modular structures (e.g., wall, stair, and pyramid) were designed. The feasibility and effectiveness of the proposed method were verified by comparing the efficiency and accuracy of three models through manual teaching and task-level planning.
机译：机器人技术在建筑砖块装配中的应用已成为一个热门话题，而建筑机器人的计划仍远远落后于制造业。带有人工教学计划方法的新机器人组装任务总是很耗时。提出了一种任务级计划方法，并描述了实现细节，以提高机器人砖装配的计划效率，而不影响准确性。在这项工作中，提出了一个基于BIM（建筑信息模型）的机器人装配模型，其中包含了计划所需的所有信息。利用基于图像的3D建模来帮助校准机器人装配场景和构建任务模型。在机器人基础坐标系中生成了每个装配砖的放置点坐标。最后，设计了三种不同的模块化结构的建筑信息模型任务（例如，墙壁，楼梯和金字塔）。通过手工教学和任务级计划比较三种模型的效率和准确性，验证了该方法的可行性和有效性。

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