Automatical Acquisition of Point Clouds of Construction Sites and Its Application in Autonomous Interior Finishing Robot

摘要

With the rapid increase of labor costs, it is urgent to use robots to replace part of the manpower in the construction industry. To achieve highly automated interior finishing operations, robots need to be able to sense the sites to be constructed. This paper proposes a solution that allows the robot to autonomously detect the environment to be constructed. And it can also achieve quality inspection and contribute to subsequent planning. The program uses the BIM model of the building as an input and uses the FARO laser scanner as the sensor. The system can automatically select the scan station of the scanner and sequentially move to the selected scan stations to perform scanning, thereby collecting high-accuracy point clouds data at the construction site. The application of the acquired point clouds is also introduced, including the construction quality inspection and the acquisition of house models with accurate dimensional parameters.