Automation process in data collection for representing façades in building models as part of the renovation process

A key barrier in building-facade renovation processes is that, contrary to new designs, an initial building model where the design process is based rarely exists, and the technologies usually employed to create it (e.g., based on point cloud scanning) are costly or require modeling skills. This situation is a clear limitation, especially in early decision stages, where the level of detail required is not very high, and the analysis and studies to consider the renovation plan (e.g., simplified energy simulations and renovation potential, or estimation of the number, types, and dimensions of the prefabricated modules incorporating solar panels) highly depend on such digital models. This paper introduces a process that, based on freely available data such as open GIS sources (local Cadasters, OpenStreetMap…) and façade images, can semi-automatically generate the 3D building model of the existing conditions, and in a second step also suggests the prefabricated facades module layout for building upgrades. Additionally, no onsite visit is needed. When the upgrade is focused on the façade, a big opportunity is identified for generating the building model and a realistic representation of its envelope, only using online data sources as input. The process developed consists of a set of easy-to-use software tools that can be used independently or combined in a workflow, depending on the available data and starting conditions. Time saving is very clear and costs can be reduced

Semiautomated primary layout definition with a point cloud for building-envelope renovation

Prefabricated modules are being used to renovate the building envelope. However, compared to manual methods, the design and prefabricated module’s definition is time consuming. Therefore, it is necessary to improve the efficiency of the prefabricated layout definition processes by incorporating automation and computational design. The purpose of this paper is to present a semi-automated definition of the layout of the prefabricated modules with the only input of the existing building facade being the Point Cloud. In this research, a novel step-by-step workflow was developed. More precisely, an algorithm was developed that processes the coordinates of each point of the cloud and generates the layout of the prefabricated modules. To validate the workflow and the algorithm, four facades were tested, considering two parameters: (a) working time and (b) output accuracy. According to the results, it was concluded that spending more time achieving an accurate laser data acquisition can be a good strategy to obtain the primary layout with sufficient precision.European Union’s Horizon 2020 research and innovation progra

A Conceptual Design of an Integrated Façade System to Reduce Embodied Energy in Residential Buildings

(1) The overall energy requirement of a building may be impacted by the building design, the selection of materials, the construction methods, and lifecycle management. To achieve an optimum energy-efficiency level when dealing with a new building or renovation project, it is important to improve the entire construction process as it is not enough to merely focus on the operational phase. If conventional construction practices do not evolve, compromise, or adapt to necessary changes, then it becomes challenging to deliver an ultimate low energy building. (2) This paper demonstrates the trend of off-site prefabrication and its production principles and the notions of open-building design and Design for X, as well as offering an overview of the development of automation in construction, which provides both insights and evaluations based on the context of the research. (3) Three European Union Horizon 2020 research projects were evaluated, and the outcome of the projects served as the backbone for the research and inspired the design of the proposed integrated façade system. Two design scenarios were proposed to demonstrate the potential improvements that could be achieved in a new build as well as in renovation projects. (4) The research lays a foundation for establishing a larger cross-disciplinary collaboration in the future.This research was funded by ZERO-PLUS, from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement No. 678407. The authors would like to thank to following research projects: BERTIM received funding from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement No. 636984. HEPHAESTUS received funding from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement No. 732513

Development of a Modular End Effector for the installation of Curtain Walls with cable-robots

The installation of façade enclosures is a manual, dangerous, and time-consuming construction task. However, thanks to the capability of automated systems, the application of automation in construction is increasing, and therefore, manual work and risky situations can be avoided.  Despite this, only a few robotic systems are capable of spanning such a vast work space, i.e. the façade of a building. Among these systems is the cable driven parallel robot (CDPR). Furthermore, the CDPR could carry heavy loads such as unitised curtain wall modules (CWM). Nevertheless, the tools and devices required for installing the CWM need to be innovated. Firstly, in order to cover that research gap, the current manual procedure was analysed in detail. After that, the development team evaluated several options for performing the tasks. Finally, an optimal solution was chosen: the so-called modular end-effector (MEE). The MEE comprises several tools in order to achieve various tasks. Mainly, these tasks are: drilling the concrete slab, bracket installation, and CWM handling and positioning. In addition to the aforementioned tasks, the MEE should accurately fix all elements with a desired tolerance less than 1 mm. Meanwhile, the MEE should compensate for the perturbation movement due to external forces such as wind that affect the system. As part of the study, a detailed workflow for the automated installation of CWMs was elaborated. The drilling step of the workflow was tested and the result is presented in this paper

Deviation-Correcting Interface for Building-Envelope Renovation

In order to reach a Zero-Energy-consuming building stock, it is necessary to insulate and add renewable energy sources on top of existing building envelopes. Off-site prefabricated modules have been used for covering building facades, but manual on-site installation procedures are still more competitive than prefabricated ones. Renovation with prefabricated modules requires high precision in order to obtain airtight and waterproof conditions. For that, an accurate installation of the anchors on top of the facade is crucial. With current techniques, this is a time-consuming operation. One of the attempts to solve the above-mentioned issue was to place the part of the anchor on top of a building facade with high tolerances and to use an interface to correct the deviations. In previous research, this concept, named Matching Kit, was validated, but improvements needed to be made to make it more competitive. In this paper, thanks to novel algorithms and the use of Point Clouds, an improved version is presented. The results show a reduction in working time and an increase in precision. With this research, the interface is closer to being used in the construction industry

Semiautomated Primary Layout Definition with a Point Cloud for Building-Envelope Renovation

Prefabricated modules are being used to renovate the building envelope. However, compared to manual methods, the design and prefabricated module’s definition is time consuming. Therefore, it is necessary to improve the efficiency of the prefabricated layout definition processes by incorporating automation and computational design. The purpose of this paper is to present a semi-automated definition of the layout of the prefabricated modules with the only input of the existing building facade being the Point Cloud. In this research, a novel step-by-step workflow was developed. More precisely, an algorithm was developed that processes the coordinates of each point of the cloud and generates the layout of the prefabricated modules. To validate the workflow and the algorithm, four facades were tested, considering two parameters: (a) working time and (b) output accuracy. According to the results, it was concluded that spending more time achieving an accurate laser data acquisition can be a good strategy to obtain the primary layout with sufficient precision

SOLUCIONES PARA LA DIGITALIZACIÓN Y LA PREFABRICACIÓN EN LA REHABILITACIÓN ENERGÉTICA DE EDIFICIOS

The objective of this study is to evaluate the practical application of a digital process for the buildings’ energy rehabilitation using prefabricated modules. The literature is extensive in this aspect, numerous technologies are mentioned for the digitalization of buildings’ rehabilitation process (BIM, laser scanner, drones, etc.), and there are also many prefabricated products for rehabilitation, but its introduction in the market is still very limited. This is due in part to the uncertainty in its practical application, and the difficulties that may entail changing processes, digitizing them, and integrating innovations in a sector as conservative as construction. Within BERTIM project, prefabricated wooden modules that integrate both carpentry and HVAC distribution networks and a methodology for the energy rehabilitation of buildings through a digitalized process have been developed. These developments have been implemented in two buildings which has allowed to identify the main barriers and difficulties that construction companies encounter in the execution. The main difficulties are: i) the method of capturing building data for the generation of its BIM model, ii) the integration of the HVAC distribution networks into the modules iii) the installation procedure of the modules on the existing building façade so that minimum execution times are ensured even in façades with many deviations and a large lack of verticality. This study addresses these difficulties and proposes practical solutions that will allow industrials to implement digital processes and will foster the use of prefabricated modules in the buildings’ energy rehabilitation.The authors want to recognize BERTIM project on Energy rehabilitation of buildings with prefabricated timber modules as the main framework of the present study. The project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 636984. The authors would also like to thank all the members of the consortium for their technical and scientific contributions

Cable-driven parallel robot for curtain wall module installation

International audienceA cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed the question of whether the CDPR was capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order to develop and test such a system, a conceptual framework that consisted of three subsystems was defined. The tests, carried out in two close-to-real demonstration buildings, revealed an absolute accuracy of the CWM installation of 4 to 23 mm. The working time for installing a CWM was reduced to 0.51 h. The results also show that the system is competitive for a workspace greater than 96 m 2 compared to conventional manual methods. However, improvements such as reducing the hours for setting up the CDPR on the one hand and achieving a faster and more robust MEE on the other hand will be still necessary in the future

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

The installation of curtain wall modules (CWMs) is a risky activity carried out in the heights and often under unfavorable weather conditions. CWMs are heavy prefabricated walls that are lifted normally with bindings and cranes. High stability is needed while positioning in order not to damage the fragile CWMs. Moreover, this activity requires high precision while positioning brackets, the modules, and for that reason, intensive survey and marking are necessary. In order to avoid such inconveniences, there were experiences to install façade modules in automatic mode using robotic devices. In the research project HEPHAESTUS, a novel system has been developed in order to install CWMs automatically. The system consists of two sub-systems: a cable driven parallel robot (CDPR) and a set of robotic tools named as Modular End Effector (MEE). The platform of the CDPR hosts the MEE. This MEE performs the necessary tasks of installing the curtain wall modules. There are two main tasks that the CDPR and MEE need to achieve: first is the fixation of the brackets onto the concrete slab, and second is the picking and placing of the CWMs onto the brackets. The first integration of the aforementioned system was carried out in a controlled environment that resembled a building structure. The results of this first test show that there are minor deviations when positioning the CDPR platform. In future steps, the deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy automatically