A General Purpose Positioning System for Construction Robotics

Mobility has been early identified as a key function for future construction robots. It is then essential to develop navigation modules, pilot modules and positioning modules that fit with the constraints of the work site. Concerning the positioning modules (that provides coordinates and orientation of the mobile robot related to a fixed coordinate system), we think that cost alternative and reliable systems must be developed taking into account the peculiarities of construction techniques and methods. This means in particular that the positioning systems to be developed will use either existing measuring devices or different kinds of beacons included in the construction design. This paper presents a patented system belonging to the first class of solutions. The system consists of a rotating laser transmitter installed at a fixed point of the work site. The mobile robot is equipped with suitable sensors providing geometrical information which processed in real time by a computer carried by the mobile robot. The basic principle of this system is described in this paper as well as the experimental developments. Examples of applications of this system are given.