On-Site Automatic Construction of Partition Walls with Mobile Robot and Computer Vision

Abstract

This paper demonstrates the implementation of an on-site mobile robot platform, equipped with computer vision system, which can automate the process of fabricating and construct standard partition wall with minimum human intervention. On the basis of this research, the following aspects are presented: (1) the physical setup and the customized multifunctional end effector that enables the robot to fabricate customized partition wall on site (2) the digital workflow that analyzes the geometrical information of the building components and generates robot operational code, while at the same time sets up communication between tracked mobile platform, robotic arm and end effector. (3) its capability to assemble wall panels in space accurately and align the structures dynamically through real time computer vision technology. The experiment provides an outlook to the possibilities of high accuracy construction of large scale building components with location aware mobile robot.