Research On BIM-based Robotic Assembly Task Instruction Interface Of Standard Masonry Component

With the progress and development of digital construction technology,robot construction has become one of the future mainstream trends in the construction industry.Most of the existing construction robots are applied to a single repetitive construction task,which consumes a lot of programming time if the construction task is changed.Research on the BIM-based task instruction interface of robot arm is conducive to reducing the time of online programming,enabling the construction robot to quickly switch between different construction tasks,as well improving the operating efficiency and increasing the flexibility of robot construction.Taking the construction process of robotic assembly of standard masonry components as the research object,this paper studies a BIM-based instruction interface for robot assembly,which could automatically generate the task instructions that can be executed by the robot according to the given construction tasks in different forms.In this paper,the image-based 3D reconstruction technology is utilized to attain the 3D model of the robot arm and the work scene,which can be regarded as information source of assembly tasklevel planning,and different forms of assembled tasks designed with BIM platform are intergrated with robot arm scene reconstruction model.The output is the information of task location of various components stored in the model,then the calibration is made in BIM platform in accordance with the robot base coordinates,thereby the coordinates information that the robot control system can operate is obtained.An assembly task instruction interface of robot arm is designed in the research,through which the coordinate information of the placement point of components outputed by the BIM platform is filled into a control program that can be executed by the robot arm to complete the assembly task.Finally,three different kinds of assembly tasks composed of standard masonry components were designed.By comparing with manual teaching method,the validity of the proposed task instruction interface is verified.The research in this paper expanded the programming method of the multi task-oriented robotic assembly task,meanwhile,the proposed task instruction interface not only guarantees the assembly accuracy of the robot arm,but also improves the assembly efficiency,which is of a certain practical significance to the robotic assembly construction.