Enabling Building Information Model-Driven Human-Robot Collaborative Construction Workflows with Closed-Loop Digital Twins
CoRR(2023)
摘要
The introduction of assistive construction robots can significantly alleviate
physical demands on construction workers while enhancing both the productivity
and safety of construction projects. Leveraging a Building Information Model
(BIM) offers a natural and promising approach to driving robotic construction
workflows. However, because of uncertainties inherent in construction sites,
such as discrepancies between the as-designed and as-built components, robots
cannot solely rely on a BIM to plan and perform field construction work. Human
workers are adept at improvising alternative plans with their creativity and
experience and thus can assist robots in overcoming uncertainties and
performing construction work successfully. In such scenarios, it is critical to
continuously update the BIM as work processes unfold so that it includes
as-built information for the ensuing construction and maintenance tasks. This
research introduces an interactive closed-loop digital twin framework that
integrates a BIM into human-robot collaborative construction workflows. The
robot's functions are primarily driven by the BIM, but it adaptively adjusts
its plans based on actual site conditions, while the human co-worker oversees
and supervises the process. When necessary, the human co-worker intervenes to
help the robot overcome the encountered uncertainties. A drywall installation
case study is conducted to verify the proposed workflow. In addition,
experiments are carried out to evaluate the system performance using an
industrial robotic arm in a research laboratory setting that mimics a
construction site and in the Gazebo simulation. Integrating the flexibility of
human workers and the autonomy and accuracy afforded by the BIM, the proposed
framework offers significant promise of increasing the robustness of
construction robots in the performance of field construction work.
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关键词
robotic construction workflows,bim-driven,closed-loop
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