提出无人工地物料运输系统，探索机器人在施工现场的自主作业路径。
Robotics Under Construction: Challenges on Job Sites
- 基于履带式载具集成导航与定位，实现工地物料自动运输。
- 初步验证了复杂地形下路径规划与环境感知的挑战。
- 适合关注建筑自动化、无人施工系统的研究人员与工程师。
随着劳动力短缺和生产率停滞日益威胁建筑业，自动化已成为可持续基础设施发展的关键。本文介绍了一个自主运载系统，作为迈向完全无人工地的第一步。该系统基于CD110R-3履带载具，集成自主导航、车队管理与基于GNSS的定位，以支持施工现场的材料运输。当前系统尚未包含动态环境适应算法，但已开展外部传感器感知与建图系统的初步研究。初步结果揭示了若干潜在挑战，包括在动态地形中的导航、针对施工场景的环境感知，以及传感器布局优化以提升自主性与效率。展望未来，我们设想一个由协作自主代理构成的建造生态系统，能够动态响应现场条件，优化工作流程并减少人工干预。本文为机器人驱动的施工自动化提供了基础洞见，并指出了进一步技术研发的关键方向。
原文摘要 · Abstract (English)
As labor shortages and productivity stagnation increasingly challenge the construction industry, automation has become essential for sustainable infrastructure development. This paper presents an autonomous payload transportation system as an initial step toward fully unmanned construction sites. Our system, based on the CD110R-3 crawler carrier, integrates autonomous navigation, fleet management, and GNSS-based localization to facilitate material transport in construction site environments. While the current system does not yet incorporate dynamic environment adaptation algorithms, we have begun fundamental investigations into external-sensor based perception and mapping system. Preliminary results highlight the potential challenges, including navigation in evolving terrain, environmental perception under construction-specific conditions, and sensor placement optimization for improving autonomy and efficiency. Looking forward, we envision a construction ecosystem where collaborative autonomous agents dynamically adapt to site conditions, optimizing workflow and reducing human intervention. This paper provides foundational insights into the future of robotics-driven construction automation and identifies critical areas for further technological development.
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