Building information modeling‐based 3D reconstruction and coverage planning enabled automatic painting of interior walls using a novel painting robot in construction

Abstract

Due to the lack of experienced labor and high‐quality requirements, interior painting task calls for robotic solutions in the construction field. This paper presents a robotic system aiming for the automatic interior wall painting task. The new painting robot comprises an omnidirectional mobile base and a seven degrees‐of‐freedom (7‐DOF) redundant manipulator consisting of a 6‐DOF robot arm and a 1‐DOF lifting mechanism to make the painting task more flexible. Further, a building information modeling‐based three‐dimensional (3D) reconstruction approach is used to obtain the complete 3D model of all walls in the interior environment for automatic painting. Moreover, we propose a two‐stage coverage planning framework to automatically generate optimal mobile base paths and manipulator trajectories to paint the walls. In the proposed framework, the global planner plans the painting waypoints sequence optimally. The local planner generates the mobile base poses by a new evaluation function which both ensures coverage of all painting waypoints and optimizes robot paths length. The results of field tests showed that the whole painting robot system has high environment adaptability to paint interior walls automatically. Furthermore, the planning results can significantly reduce total robot paths length compared with the previous studies. The painting robot can automatically finish a painting of 46.3 m2 ${{\rm{m}}}^{2}$ in 59.3 min, and this performance verifies the proposed design and algorithms.

Spatial Intelligent Design and Innovation for Indoor Environment - Visualization and Analysis of Web3D Technology

“…The emergence of virtual reality, undoubtedly the combination of artistic innovation and technology together, for the field of architectural design to open up a new way of thinking, which breaks the previous architectural design "from the plane, elevation, section and three-dimensional model" of the performance mode [1][2][3]. Designers can walk into their own design scene space at any time, from any angle, to observe and test their design, immersive feel of the space, scale, ambient light, and even sound changes so as to make the design creation more perfect and reasonable [4][5][6].…”

Visual reconstruction method of architectural space under laser point cloud big data

“…With the rise of digital city construction, the three-dimensional model of buildings plays an important role in urban planning, urban management, geological mapping, urban transportation and other fields [1]. The traditional three-dimensional modeling of buildings adopts manual photogrammetry technology, which has high time and labor costs.…”

Localization on a-priori information of plane extraction

“…The localization problems are of paramount importance for mobile robotics, particularly for indoor robots operating in environments where external navigational aids such as GPS prove to be unreliable or unavailable. For example, painting robots localize themselves to apply paint on target surfaces within multiple rooms [ 1 , 2 ], while inspecting power distribution cabinets necessitates localization to identify the intended targets [ 3 ]. Furthermore, localization serves as an integral component of simultaneous localization and mapping (SLAM), a widely employed technique for robotic navigation in uncharted environments [ 4 – 6 ].…”