Abstract: A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.

Abstract: A smart drilling system that includes a controller, a drilling machine with an optical marker, and a tracker station at a fixed spot of a construction site. The drilling machine includes an optical marker. The tracker station acquires the location of the drilling machine and its drill through tracking the optical marker. The drilling machine is moved into positions of multiple different work regions. The tracker station sequentially acquires the location of the multiple different work regions and transmits the acquired location information to the controller, such that, by using the transmitted locations, the controller converts drilling machine coordinates into desired perforation coordinates and recognizes an orientation of the drilling machine. The controller also recognizes a perforable point at a current position of the drilling machine through the location information of the drilling machine.

Abstract: A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.