On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile robots can document the state of construction with high data quality and consistency. However, finding a path that fully covers the construction site is a challenging task as it can be large, slowly changing over time, and contain dynamic objects. Existing approaches are either exploration approaches that require a long time to explore the entire building, object scanning approaches that are not suitable for large and complex buildings, or planning approaches that only consider 2D coverage. In this paper, we present a novel approach for planning an efficient 3D path for progress monitoring on large construction sites with multiple levels. By making use of an existing 3D model we ensure that all surfaces of the building are covered by the sensor payload such as a 360-degree camera or a lidar. This enables the consistent and reliable monitoring of construction site progress with an autonomous ground robot. We demonstrate the effectiveness of the proposed planner on an artificial and a real building model, showing that much shorter paths and better coverage are achieved than with a traditional exploration planner.
翻译:在建筑工地上,必须不断监测进度,以确保当前状况符合计划状态,从而提高效率、安全和早期发现建筑缺陷。自主移动机器人可以以高数据质量和一致性记录施工状况。然而,找到一条完全覆盖施工工地的道路是一项艰巨的任务,因为它可以是大型的,缓慢地随着时间的变化而变化,并包含动态物体。现有的方法要么是勘探方法,需要很长时间来探索整个建筑、不适合大型和复杂建筑的物体扫描方法,要么是只考虑2D覆盖的规划方法。在本文件中,我们提出了一个新颖的方法,规划一个高效的3D路径,用于多层次大型建筑工地的进度监测。通过利用现有的3D模型,我们确保建筑的所有表面都由360度照相机或激光仪等传感器有效载荷所覆盖。这样就可以用一个自主的地面机器人对施工工地进度进行连贯和可靠的监测。我们展示了拟议规划人员在人造和真实建筑模型上的有效性,显示比传统的勘探规划人员要短得多的路程和覆盖范围。