Morphological cognition for a ceiling mounted construction robot

Sangheon Park, Yongchul Park, and Youngjin Hong


A newly introduced construction method how to build ceilings in a short period of time use a lot of thin steel plates that adhere on the ceiling along with the millions of bolts and screw pins. After the concrete goes hard, human workers should spend a lot of time unscrewing all bolts manually in an awkward pose to remove the steel plates. In this paper, we show our research results how to detect the position of many kinds of bolt heads, screw pins and other obstacles over the plates by means of visual morphological cognition which could be unscrewed by autonomous ceiling mounted construction robot.