• Journal of the Korea Institute of Building Construction
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• v.21 no.5
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• pp.387-396
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• 2021

In building construction, the layout operation is performed to accurately construct the building components in their planned locations, and requires a high level of accuracy and precision. With increases in building size and a lack of skilled laborers, this work has seen an increasing demand for productivity and quality improvements through robot-based construction automation. In particular, the layout work for building structures has a higher need for automation. On this background, this study suggests a direction for the development of an automated layout system of building structures. 5 technical factors and 17 sub-factors were derived based on reviews of existing similar systems, and an evaluation of their importance was carried out through an expert survey. As a result, it was found that the most important factors were driving and marking systems for coping with poor driving and working conditions. In terms of sub-factors, control techniques to secure precision and technologies to automate the overall layout process showed high importance. These findings will contribute to the development of more practical and efficient automation systems.

• Journal of the Korea Institute of Building Construction
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• v.22 no.6
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• pp.689-700
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• 2022

Layout work for building structures requires high precision to construct structural elements in the correct location. However, the accuracy and precision of the layout position are affected by the worker's skill, and productivity can be reduced when there is information loss and error. To solve this problem, it is necessary to automate the overall layout operation and introduce information technology, and layout process automation using construction robots can be an effective means of doing this. This study develops a prototype of an automated layout robot for building structures and evaluates its basic performance. The developed robot is largely composed of driving, marking, sensing, and control units, and is designed to enable various driving methods, and movement and rotation of the marking unit in consideration of the environment on structural work. The driving and marking performance experiments showed satisfactory performance in terms of driving distance error and marking quality, while the need for improvement in terms of some driving methods and marking precision was confirmed. Based on the results of this study, we intend to continuously improve the robot's performance and establish an automation system for overall layout work process.

• Journal of the Korea Institute of Building Construction
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• v.23 no.2
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• pp.209-220
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• 2023

Ensuring accuracy within tolerance is crucial for a marking robot; however, rebar displacement frequently occurs during the structural work process, necessitating corrections to layout lines or rebar locations. To guarantee precision and automation, the marking robot must be capable of measuring rebar error and determining appropriate adjustments for marking lines and rebar placement. Consequently, this study proposes a method for measuring rebar location error using a LiDAR sensor and implementing a layout assessment process based on the measurement results. The rebar recognition experiment using the LiDAR sensor yielded an average error of 5mm, demonstrating a reliable level of accuracy for wall rebars. Additionally, this research proposed a process that enables the robot to evaluate rebar and marking corrections based on the error range. The findings of this study can contribute to the automated operation of marking robots while accounting for construction errors, potentially leading to improvements in structural quality.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.05a
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• pp.257-258
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• 2021

Construction robotics is rapidly forming a market in conjunction with the development of sensing and artificial intelligence technologies. The layout work for accurately constructing the shape and dimensions of the building frame requires high accuracy and precision, and is one of the high demands for productivity and quality improvement through construction automation. Thus, as a preliminary study, we derived the elemental factors and performance requirements for developing an automated layout robot. In addition, alternatives on driving and marking units were investigated based on literature review and practioner's interview. The result of this study will be used as a basic data for the layout robot design.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.11a
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• pp.155-156
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• 2022

In the process of developing an industrial robot, various simulations should be conducted to evaluate the driving, movement, and performance of the robot. Space and time constraints exist to manufacture existing robots and implement various simulations, and efficiency is reduced due to high costs. To solve this problem, many simulations can be conducted by implementing the same movement and working environment as the real environment in virtual reality using digital twin technology. This study proposes a process for establishing a digital twin model of automated layout robots. Using the digital twin model, it is expected that it will not only evaluate the hardware performance of the robot in the future, but also verify the robot's algorithms such as motion planning and work process, identify and solve potential problems in advance, and prevent problems caused by software.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.144-145
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• 2022

Since the marking robot draws lines by point-to-point operation, the robot's shifting path greatly affects the working time and productivity. Therefore, it is required to analyze the movement method based on the robot's motion and plan to minimize the movement time. Therefore, this study proposes a method that can optimize the robot's shifting path to minimize the working time of the marking robot. Through the results of this study, it is expected that the non-working time of the marking robot will be reduced and the efficient operation will be possible.