Journal of Applied Geodesy

摘要

The use of robots is widespread in the field of construction nowadays. Robots may be mobile or static depending on the specific task or application. One of the major challenges when implementing mobile robots is localisation. In the field of robotics, localisation is often performed in a relative sense, however some applications require absolute localisation. In order to provide absolute positions, appropriate sensors such as Global Navigation Satellite Systems (GNSS) or total stations can be employed. The underlying task is embedded within the Germany´s Excellence Strategy “Integrative Computational Design and Construction for Architecture (IntCDC)” funded by the German Research Foundation (DFG). The specific sub-project deals with issues of robot-robot collaboration and specifically aims the provision of absolute position and orientation, designated as pose, of a mobile construction robot. The determined pose information supports different control loops of the robot including automated driving, steering and tool operations. The choice of the sensor system favoured a robotic total station (RTS), because of its real-time capability and measurement accuracy. The measurement system is coupled with an Inertial Measurement Unit (IMU) for orientation. To counteract line-of-sight interference between the RTS and the target, the contribution proposes the use of a network of four spatially evenly distributed RTSs. The quality characteristics of different pose determination procedures of a mobile construction robot are investigated using methods from the geodetic network theory. Conclusions about accuracy and reliability distribution across the construction site are presented numerically and graphically.