AUTONOMOUS APPARATUS AND SYSTEM FOR REPETITIVE TASKS IN CONSTRUCTION PROJECT

摘要

An autonomous assembly is described herein that includes a gantry subassembly, a carrier subassembly movably mounted on the gantry subassembly, a tool actuation subassembly mounted on the carrier subassembly, and an autonomous control system including a perception subsystem, a motion planning subsystem, and a motion control subsystem. The gantry subassembly includes a bridge member for laterally spanning a selected section of a work site and a gantry drive system for effecting travel of the gantry subassembly along the length of a selected portion of a work site. The carrier subassembly includes a carriage and a carriage drive system for effecting travel of the carriage along the bridge member. The tool actuation subassembly effects linear travel of an end-effector generally perpendicular to the bridge member and the carriage.