Dual-arm cooperative construction robots for wall repair with adaptive spraying and troweling

IF 11.5 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2025-10-15 DOI:10.1016/j.autcon.2025.106613

Changyi Zhao , Hua Bai , Lu Li , Konghua Yang , Zihe Yang , Wankai Chen , Chunbao Liu

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引用次数: 0

Abstract

Plastering in construction involves two key processes: spraying and troweling. Most existing robotic systems can only perform one task, leading to low efficiency and inconsistent surface quality. This paper proposes an integrated dual-arm robotic system that unifies spraying, troweling, defect detection, and real-time repair into a continuous and automated workflow. Firstly, an improved detection model, based on YOLOv8 with Hybrid Attention Transformer (HAT) and Dynamic Snake Convolution (DSCov), increases recognition accuracy by 15.1 %. Secondly, a hybrid force–position control strategy is applied to improve plastering uniformity by adapting to varying wall conditions. Thirdly, a sensor fusion method combining inertial measurement units (IMU) and light detection and ranging (LiDAR) is used to correct deviations caused by uneven flooring. Experimental results show that the robot achieves an average deviation of only 0.38 mm from the target plaster thickness of 10 mm, while surface uniformity is improved with the proposed control and correction methods.

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具有自适应喷铲功能的双臂协同墙体修复机器人

施工抹灰涉及两个关键工序：喷涂和抹灰。大多数现有的机器人系统只能执行一项任务，导致效率低，表面质量不稳定。本文提出了一种集喷涂、铲削、缺陷检测和实时修复为一体的集成式双臂机器人系统。首先，基于YOLOv8的混合注意转换（HAT）和动态蛇卷积（DSCov）改进的检测模型将识别准确率提高了15.1%；其次，采用力-位混合控制策略，适应不同的墙体条件，提高抹灰均匀性；第三，采用惯性测量单元（IMU）和光探测与测距（LiDAR）相结合的传感器融合方法，对地板不平整造成的偏差进行校正。实验结果表明，机器人与目标石膏厚度（10 mm）的平均偏差仅为0.38 mm，并且通过所提出的控制和校正方法改善了表面均匀性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.