土木工程与管理学报2025，Vol.42Issue(2)：1-8,8.DOI:10.13579/j.cnki.2095-0985.2025.20240304
新型智能化混凝土施工养护机器人研发与应用
Research and Application of New Intelligent Concrete Construction and Maintenance Robot
摘要
Abstract
To address the challenges of empirical manual water curing in concrete construction,an in-telligent concrete construction and maintenance robot with autonomous localization and path planning was developed and applied,which is mainly composed of articulated arms,spraying maintenance sys-tem,mobile platform system,human-machine interface system and so on.It can be used for the con-struction and maintenance of mass concrete,basement bottom and first floor column walls of upper structure,overlong thin-walled concrete structures.The intelligent concrete construction and mainte-nance robot utilizes LiDAR and stereo cameras to dynamically perceive the working environment and adopts intelligent algorithms for matching environmental feature information and optimal path planning to achieve accurate planar localization,path planning,and intelligent obstacle avoidance.The spatial pose control and precision positioning of the end-effector is achieved by using a two-axis robotic arm.When applied in on-site construction,the robot automatically construction site based on maintenance operation instructions,automatically generates 3D model,plans a collision-free path and navigates to the designated location,upon arrival targets and sprays the specified concrete structure.关键词
混凝土施工/养护机器人/喷淋养护/精准靶向作业/工程应用Key words
concrete construction/maintenance robot/spray maintenance/precise targeted operation/engineering application分类
土木建筑引用本文复制引用
房霆宸,陈渊鸿,蒋宇晨..新型智能化混凝土施工养护机器人研发与应用[J].土木工程与管理学报,2025,42(2):1-8,8.基金项目
国家"十四五"重点研发计划(2023YFC3009400) （2023YFC3009400）
上海市科委科技创新行动计划资助项目(22dz1201706) （22dz1201706）
上海市2022年度启明星培育扬帆专项资助项目(22YF1418100) （22YF1418100）
