东南大学学报（自然科学版）2026，Vol.56Issue(2)：220-233,14.DOI:10.3969/j.issn.1001-0505.2026.02.005
基于智能预制构件的装配式建筑施工作业集成平台多机协作框架
Smart prefabricated component based multi-robot collaboration framework in construction integrated platform for prefabricated building
摘要
Abstract
To overcome the multi-robot collaboration bottlenecks prevalent in traditional construction environ-ments,this study leverages the factory-like advantages of the construction integrated platform for prefabricated building(CIP-P)to develop a multi-robot collaboration(MRC)framework that supports automated construc-tion.Firstly,drawing inspiration from the human-machine-object integration model of smart factories,we in-troduce smart component technology and propose a MRC construction method from the perspective of the ac-tive perception and interaction of smart prefabricated components,concurrently identifying their requisite capa-bilities.Secondly,grounded in resource-based view(RBV)and an analysis of MRC characteristics,a system-atic framework for MRC construction is established along four dimensions:Task,Strategy,Capability,and Resource.Then,focusing on the application scenarios within the CIP-P,a detailed analysis is conducted on the task scenarios,collaboration strategies,key enabling technologies,and interactive resource demands,which elucidates the underlying coordination logic among the framework's constituent elements centered on smart prefabricated components.Finally,the proposed framework is preliminarily validated through a simpli-fied physical simulation experiment.The results demonstrate that the framework exhibits significant potential for enhancing construction flexibility and operational performance,providing a theoretical foundation for the intelligent upgrading of MRC operations facilitated by the CIP-P.关键词
智能预制构件/施工集成平台/多机协同/主动感知交互Key words
smart prefabricated components/construction integration platform/multi-robot collaboration/active perception interaction分类
信息技术与安全科学引用本文复制引用
胡飞翔,袁竞峰,卢晓宇,刘威,何日腾..基于智能预制构件的装配式建筑施工作业集成平台多机协作框架[J].东南大学学报（自然科学版）,2026,56(2):220-233,14.基金项目
国家重点研发计划资助项目(2022YFC3802201) （2022YFC3802201）
国家自然科学基金资助项目(72072031). （72072031）
