基于BIM的标准砌体构件机械臂拼装

任务指令接口研究

刘 晟

摘 要

随着数字建造技术的进步和发展，机器人建造已成为建筑行业未来的主流趋势之一。现有的建筑机器人大多应用在单一重复的任务中，若变更建造任务则需要耗费大量的编程时间。研究基于BIM的机械臂任务指令接口，有利于缩减传统示教编程的时间，使建筑机器人可以在不同的建造任务之间迅速切换，提高作业效率并增加机器人建造的灵活性。

本文以机械臂拼装标准砌体构件的建造过程为研究对象，研究一种基于BIM的机械臂拼装任务指令接口，该接口能够依据给定的不同形式的建造任务，自动生成机器人可执行的任务指令。本文采用基于图像的三维重建技术获得机械臂及其工作场景的重建模型，该模型可作为机械臂拼装任务规划的场景信息来源。采用BIM平台设计不同形式的拼装建造任务，并与机械臂工作场景的重建模型进行集成，输出存储在任务模型中的各个构件的位置信息，然后在BIM平台中标定到机器人基坐标系下，从而得到机器人控制系统可操作的坐标信息。本文设计了机械臂拼装任务指令接口，通过该接口把BIM平台所输出的构件的放置点位坐标信息填写入可供机械臂执行的程序中，驱动机械臂完成既定的拼装建造任务。

最后，本文设计了三种不同形式的拼装建造任务实验，每个建造任务都由标准砌体构件组成。通过与人工示教拼装方式进行对比，验证了所提出的任务指令接口的有效性。本文的研究拓展了面向多任务的机械臂拼装任务编程方式，提出的任务指令接口在保证机械臂拼装的精度的同时，提高了拼装的效率，对基于机械臂的装配式建造具有一定的现实意义。

关键词：机器人拼装  建筑信息模型  程序指令  接口  三维重建

Abstract

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 task-level 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.

Keywords: Robot Assembly   Building Information Modeling  Program Instruction In                      terface   3D reconstruction