Abstract
The trend of using modern technologies in the construction industry has been growing stronger recently, particularly in the fields of additive construction or robotic bricklaying. Therefore, specifically for the purpose of robotic bricklaying, we created a digital layout plan for robotic construction works. This article presents a universal methodology for creating a bricklaying plan for various variations of wall building systems. The method is based on the conversion of drawings from the BIM (Building Information Model) environment to the BREP (Boundary Representation) model through use of the IFC (Industry Foundation Classes) format, which simultaneously divides object models into layers and connects discontinuous wall axes by means of an orthogonal arrangement and inserting details into critical structural points. Among other aspects, the developed algorithm proposes the optimal placement of the robotic system inside objects under construction, in order to minimize the distance of the robot’s movement and to reduce its electricity consumption. Digital layout plans created in this way are expected to serve as a stepping stone for robotic bricklaying.
Highlights
The actual application of the procedures already developed for digitizing the wall bricklaying plan is very limited, due to the specific method of deployment
A method was developed to create a digital bricklaying layout plan for robotic building constructions. This method is based on the conversion of drawings from the BIM environment to a BREP model by means of the IFC format, which simultaneously divides the object model into layers and connects discontinuous wall axes by means of orthogonal arrangement and inserting details into critical structural points
The mathematical model allows for the generation of outputs from the interface of industrial robots (e.g., KUKA using the KRL code standard)
Summary
Careful examination of selected robotic systems revealed that none of them referred to a reliable method of transporting objects from the BIM environment to the industrial robot environment [4]. In this type of software, walls are displayed only as compact objects, in which openings for doors and windows can be created, but it is not possible to split the walls into individual building elements [5,6,7].
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