Abstract
Trade associations for prefabricated construction estimate that about 50% of prefabricated wall projects have alignment problems that lead to defects and rework. Additionally, component installation times average between 30 and 60 minutes per component. To address these issues, a real-time evaluator (RTE) system was introduced to decrease cost and automate prefabricated component installation by reducing the installation time, decreasing rework, and enhancing energy performance through higher installation quality. The RTE uses commonly available hardware and software to perform autonomous tracking to measure the real-time location and orientation of components as they are crane-lifted and installed. The hardware, software, and algorithms that allow the autonomous tracking of components are detailed. An algorithm to automate the initial search for a component with three attached retroreflectors is proposed. Algorithms to automate the measurement of component position and orientation are also proposed. Simple lab-scale proof-of-concept experiments were conducted to assess the algorithms for automation of component searching, measurement of real-time movement, and measurement of component orientation. With additional development, the system can be used as a tool to generate the commands for autonomous crane operation or single-task construction robots.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 |
| Editors | Borja Garcia de Soto, Vicente Gonzalez, Ioannis Brilakis |
| Publisher | International Association for Automation and Robotics in Construction (IAARC) |
| Pages | 192-199 |
| Number of pages | 8 |
| ISBN (Electronic) | 9780645832204 |
| DOIs | |
| State | Published - 2023 |
| Event | 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 - Chennai, India Duration: Jul 5 2023 → Jul 7 2023 |
Publication series
| Name | Proceedings of the International Symposium on Automation and Robotics in Construction |
|---|---|
| ISSN (Electronic) | 2413-5844 |
Conference
| Conference | 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 |
|---|---|
| Country/Territory | India |
| City | Chennai |
| Period | 07/5/23 → 07/7/23 |
Funding
This manuscript has been authored by UT-Battelle, LLC, under contract DE-AC05-00OR22725 with the US Department of Energy (DOE). The publisher acknowledges the US government license to provide public access under the DOE Public Access Plan (https://energy.gov/downloads/doe-public-access-plan). This manuscript has been authored by UT-Battelle, LLC, under contract DE-AC05-00OR22725 with the US Department of Energy (DOE). The publisher acknowledges the US government license to provide public access under the DOE Public Access Plan (https://energy.gov/downloads/doe-public-access-plan). The authors would like to thank Jared Brewe, Steve Brock, Gary Lentz, and Mike Milkovitz from the Precast/Prestressed Concrete Institute and various manufacturers for participating on the advisory board which provided specifications for the research.
Keywords
- accuracy
- automation
- installation
- prefabrication
- real-time
- time