Abstract
Autoclaved lightweight concrete (ALC) wall panels are widely used in building envelope structures. Due to the limitations of their sizes and architectural environment, installing ALC wall panels is very complex, requiring significant labor and time costs. Construction robots provide enhanced efficiency, yet current façade installation robots lack comprehensive on-site automation. In this study, an on-site wallboard installation robot with sensors, a mobile base, and a mechanical gripper was self-designed. Based on this robot, an automated installation scheme with integrated functions was proposed for the multiple steps from grasping to installing the wall panel. The robot could recognize and judge the posture of the wall panel through a robot vision algorithm and was able to navigate according to the simultaneous localization and mapping (SLAM). The proposed scheme achieved good results in both simulation and field testing. The robot automatically completed multiple tasks, from grasping to placing ALC wall panels, significantly reducing the difficulty of manually installing ALC wall panels and avoiding construction hazards.
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