Human-Aware Safe Robot Control and Monitoring System for Operations in Congested Indoor Construction Environment

摘要

This study presents a framework for human-aware robotic sensing and control for safe human-robot coordination in dynamic construction environments. The framework addresses the critical need for enhanced safety measures in the construction industry, where robots are increasingly being deployed for various tasks. The proposed framework incorporates task-based risk assessments, safety rule definitions, real-time human detection, distance estimation, and adaptive robot control mechanisms. It enables a robot to autonomously adjust its actions based on the estimated distance to the closest human worker, allowing for prompt stopping, speed reduction, or continued full-speed operation as required. The framework enhances safety and fosters trust between human workers and robots in collaborative environments. A prototype application was tested in a simulated residential construction site with a mobile robot with multiple depth cameras to provide 360-degree visibility. The result of the case study demonstrates the potential to safely control autonomous construction robots working around human workers.