한국건축시공학회지 (Journal of the Korea Institute of Building Construction)

  • 제22권6호
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  • Pages.689-700
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  • 2022
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  • 1598-2033(pISSN)
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  • 2233-5706(eISSN)
한국건축시공학회 (The Korean Institute of Building Construction)
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건축물 골조공사 먹매김 시공자동화 로봇 프로토타입 개발

Development of an Automated Layout Robot for Building Structures

  • 박규선 ;
  • 김태훈 ;
  • 임현수 ;
  • 오종현 ;
  • 조규만
  • Park, Gyuseon (Department of Architectural Engineering, Chosun University) ;
  • Kim, Taehoon (Department of Architectural Engineering, Chosun University) ;
  • Lim, Hyunsu (Department of Architecture, Soonchunhyang University) ;
  • Oh, Jhonghyun (R&D Team, Geosystems Inc.) ;
  • Cho, Kyuman (Department of Architectural Engineering, Chosun University)
  • 투고 : 2022.11.13
  • 심사 : 2022.11.24
  • 발행 : 2022.12.20
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초록

건축물 골조공사에서 먹매김 작업은 건축물 구조부재 요소를 정확한 위치에 시공하기 위해 높은 정밀도가 요구되나, 현재 인력에 의해서 진행되어 작업자의 숙련도에 따라 먹 위치 정확도 및 정밀도가 저하되고, 정보손실 및 오류 발생에 따른 생산성 저하 문제점을 갖는다. 이를 해결하기 위해 전반적인 먹매김 공정의 자동화 및 정보화 기술 도입이 요구되며, 건설로봇을 활용한 먹매김 자동화는 효과적인 수단이 될 수 있다. 이에 본 연구에서는 건축물 골조공사의 먹매김 시공자동화 로봇의 프로토타입을 개발하고 기초성능을 평가하였다. 개발된 로봇은 크게 주행부, 마킹부, 센싱부, 제어부로 구성되었으며, 골조공사 환경을 고려하여 다양한 주행방식과 마킹부 이동 및 회전이 가능하도록 설계되었다. 주행 및 마킹 성능 실험 결과, 주행거리 오차 및 마킹 품질측면에서는 만족할 만한 성능을 보였으나, 일부 주행방식과 마킹 정밀도 측면에서의 개선 필요성이 확인되었다. 본 연구결과를 토대로 개발 장비의 지속적인 개선 및 성능 보완, 전체 먹매김 공정의 자동화 시스템 구축을 진행하고자 한다.

Layout work for building structures requires high precision to construct structural elements in the correct location. However, the accuracy and precision of the layout position are affected by the worker's skill, and productivity can be reduced when there is information loss and error. To solve this problem, it is necessary to automate the overall layout operation and introduce information technology, and layout process automation using construction robots can be an effective means of doing this. This study develops a prototype of an automated layout robot for building structures and evaluates its basic performance. The developed robot is largely composed of driving, marking, sensing, and control units, and is designed to enable various driving methods, and movement and rotation of the marking unit in consideration of the environment on structural work. The driving and marking performance experiments showed satisfactory performance in terms of driving distance error and marking quality, while the need for improvement in terms of some driving methods and marking precision was confirmed. Based on the results of this study, we intend to continuously improve the robot's performance and establish an automation system for overall layout work process.

키워드

과제정보

This work is supported by the Korea Agency for Infrastructure Technology Advancement(KAIA) grant funded by the Ministry of Land, Infrastructure and Transport(Grant 21CTAP-C163790-01) and by research fund from Chosun University, 2022.

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