스캔 매칭을 이용한 철골 자재 식별 및 위치 인식

Abstract

Automation and robotization has been required in construction for several decades to reduce the cost and time and to increase the productivity and safety. Especially for steel construction in high-rise building, the needs for automation is emphasized because this is inherently a very dangerous and difficult job. As one procedure of automation, the equipment like robotic crane should carry steel frames from staging area to the installed spot automatically. To do this, the position and pose of steel frames should be known to robotic crane. This paper presents a recognition and localization method for steel frame materials to remedy this problem. In the proposed method, the shape model is acquired by RF-ID technology and the loading shape of steel frame materials in staging area is recognized by laser range finder (LRF) sensors. After clustering the scanned data into several objects, scan matching method is applied to recognize each object. Experimental results are included to verify the performance of the proposed method.