Automating the construction workplace: positioning and navigational factors

Abstract

The adaptation of conventional robots to construction sites is fraught with problems. Most signi cant of these are in relation to positioning, means of collision avoidance, and appropriate navigation strategy. This paper reviews the different levels of navigational autonomy that are possible and describes the system requirements for each. A taxonomy based on the concept of a Mobility Automation Level (MAL) is proposed. Each level is described and the requirements from a robot design perspective are discussed. Finally, a case study, based on an excavator with autonomously optimised movement, known as LUCIE, is used to illustrate some of the design criteria previously described and discussed.

A review of satellite positioning systems for civil engineering

“…A review of satellite positioning systems for civil engineering Roberts, Tang and Brown There are also dynamic applications such as deflection monitoring of large structures (Roberts and Brown, 2006;Roberts et al, 2012Roberts et al, , 2014 positioning and controlling construction plant such as bulldozers, graders, piling rigs, mining plant, drilling rigs and excavators (Bouvet et al, 2001;Carter, 2005Carter, , 2011Makkonen et al, 2006;Moon et al, 2010;Navon et al, 2004;Ritter et al, 2014;Seward, 2002;Seward et al, 1997). Figure 8 shows an excavator being controlled by RTK GNSS, while Figure 9 shows a GNSS antenna located on the Severn suspension bridge cable in order to measure its deflections.…”