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一个用于机器人挖掘和使用现场材料干石施工的框架.
Ryan Luke Johns1,2, Martin Wermelinger1, Ruben Mascaro3,4
1Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.
Science robotics
|November 22, 2023
概括
本研究介绍了一种机器人建筑系统,用于使用当地石头建造墙壁和景观. 自动化过程有效地利用现场资源,提供可持续和减少碳排放的建筑选择.
科学领域:
- 机器人和自动化 机器人和自动化
- 建筑工程工程 建筑工程
- 可持续材料 可持续材料
背景情况:
- 传统建筑依赖于资源密集型的工艺和运输.
- 现场资源利用 (ISRU) 为建筑提供了一个可持续的替代方案.
- 机器人系统可以提高建筑工艺的效率和精度.
研究的目的:
- 开发和演示一个机器人建筑管道,用于使用异质的本地石材材料进行建筑.
- 为了实现自主规划和执行自由形式的石墙和景观建筑.
- 展示机器人挖掘机在施工中的现场资源利用方面的潜力.
主要方法:
- 使用了一台配备了子和抓柄的机器人挖掘机.
- 该系统使用机器学习进行石头检测,细分和3D扫描.
- 为了石头放置,开发了一种具有受约束注册和签名距离领域分类的几何规划算法.
- 集成了自主地形塑造能力.
主要成果:
- 成功建造了一个独立的石墙 (10m x 1.7m x 4m).
- 展示了一个永久的支墙 (65.5m x 1.8m x 6m),与机器人轮露台 (665平方米) 集成.
- 验证了系统处理高度不规则和异质的本地材料的能力.
结论:
- 机器人系统可以有效地执行干石建筑的复杂操纵任务.
- 自动驾驶重型建筑车辆提供适应性建筑潜力,使用可持续的,本地采购的材料.
- 开发的管道大大减少了对材料运输和预处理的需求,有助于减少碳排放.
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