innovations in construction service robots
TRANSCRIPT
Innovations in Construction Service Robots
I-MING CHEN
Fellow of IEEE and ASME School of Mechanical and Aerospace Engineering
Nanyang Technology University, Singapore Email: [email protected]
I3C Symposium on Sustainable Infrastructure 23 November 2017
Marina Bay Sands, Singapore
Building Construction is like
Manufacturing of !..
Building Construction Works
Structural works
Architectural works M&E works
Challenges in Construction Productivity
Rapid Urbanization Repair &
Maintenance of Ageing
Infrastructures
Shrinking of Skilled Workers
Rapidly Ageing Societies
Robots for Building Construction
Onsite construction
Construction 3D printing
DfMA offsite pre-fabrication
Approaches to Robots for Onsite Construction
Understanding of work processes & perimeters
Performance of sub systems for field operations
Robustness of manipulation, mobility and perception solutions in fields
Machine learning and intelligence for situation awareness & uncertainties in fields
Adaptation to environment and task variations
Levesl of human & robot interactions
New Trends in Robotics/Automation
Low-cost high performance sensors
High density high endurance actuators
Modular plug-n-play mechatronics component
Big Data/Cloud for Robotics
Open source robotics software
Autonomous navigation &
Machine learning
New Robots for Onsite Construction
Spray painting PICTOBOT (NTU, Singapore)
QA/QC QUICABOT (NTU, Singapore)
hollowness
cracks evenness
alignment
inclination
Construction Quality Assessment
Manual Assessment Automated Assessment
Tools Assessment Items Sensors Assessment Items
Cracks of grounds, wall ceiling Visual checking
Evenness of ground and walls 1.2m Spirit Level
Alignment of walls Set Square
Hollowness of ground
CONQUAS Rod
RGB camera
LMS500 laser scanner
FLIR A310 thermal camera
AGS005 inclinometer
Cracks of ground and wall
Evenness of ground/walls; alignment of
two walls
Hollowness of ground and walls
Inclination of ground
Assessment Methods
heater battery
NI DAQs
Thermal Camera
RGB Camera
inclinometer
laser scanner
industrial PC
linear actuator
AXON mobile robot
Quicabot: Quality Assessment Robot
Quicabot in Action
Crack Assessment
Hollowness Assessment
Assessment Results
Alignment Assessment Evenness Assessment
Extracted three planes from two 2D scans
1 2 3 4 5 6 7 8 9 1089.5
89.55
89.6
89.65
89.7
89.75
89.8
89.85
89.9
Two angles for each test
Ang
le (°
)
Angle OneAngle Two
Two angles of three walls for ten tests
Uneven Even
Extracted line segments for a single 3D scan
Assessment Results
High Ceiling Spray Painting
•! Need infrastructure/equipment support •! Time consuming •! Extra safety measures for workers •! Demand for higher construction productivity
Painting a warehouse is not like painting a room.
UR10 Robot Arm
Long-reach Mechanism
Stabilizers
Spray Painting Pump
Mobile Robot
Pictobot: Spray Painting Robot
Pictobot in Action
High-ceiling painting robot
Drilling
Inspection
Installation
Quality assessment robot
Inspection
Quality assurance
Intervention
Common Robotic Platform Technology
Oil & gas Power generation Chemical
Transportation Other utilities
LESS FOR MORE: Serving across different industries
Global Construction Market
Source: Global Construction 2030 & BCA
CHINA, 2012-2025 9.3 Million Houses/year
INDIA, 2012-2025 11.4 Million Houses/year
USA, 2012-2025 1.48 million Houses/year
SINGAPORE, 2017-2020 19.5k Houses/Year
AAcckknnoowwlleeddggeemmeenntt Funding agencies
National Research Foundation A*Star SERC Jurong Town Corporation Public Utility Board Building Construction Authority Housing Development Board
Team members:
Prof Low Kin Huat Prof Yeo Song Huat Prof Erdal Kayacan Prof Gerald Seet Prof Robert Tiong Dr Ehsan Asadi Nie Jiancheng Qiu Chen Soh Li Jing Dr Yan Rui-Jun Liu Lili Varun Maruvanchery
Li Bingbing Duan Jinjun Chee Keai Jiang Law Wei Chuan Low Chin Leong Dr Yuan Qilong Dong Huixu Burhan
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