| Author: | Yu, Yi |
| Title: | Adaptability improvement and expanded application of unmanned aerial vehicles in the indoor construction environment |
| Advisors: | Li, Heng (BRE) |
| Degree: | Ph.D. |
| Year: | 2025 |
| Subject: | Drone aircraft Drone aircraft -- Design and construction Drone aircraft -- Industrial applications Construction industry Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Building and Real Estate |
| Pages: | xv, 168 pages : color illustrations |
| Language: | English |
| Abstract: | Currently, drones are widely used in construction industry. However, compared with the already mature application of drones in outdoor construction environments, the application potential of drones in indoor environments has not been fully developed. The reason is that drones still face many challenges in indoor construction environments. The core challenges include the following four points: (1) Indoor construction environments usually have small spaces, many obstacles and complex distribution, and are also accompanied by frequent flows of people and frequent changes in the environment, which requires drones have greater real-time obstacle avoidance capability. (2) Indoor airflow is complex and unstable, especially when the air conditioning or ventilation system is running, which will affect the flight stability of the drone. (3) Indoor tasks usually require precise flight, resulting in greater energy consumption and affecting the efficiency of UAVs. (4) There is a lack of GPS signals in the indoor environment, making it difficult for UAVs to rely on satellite navigation for positioning and path planning. These challenges directly affect the safety and efficiency of drone applications in indoor environments. The purpose of this study is to improve the current application status of drones in indoor construction environments and explore the application potential of drones in indoor construction environments. Therefore, in response to the first and second core challenges, this research improves the real-time obstacle avoidance capability and flight stability of UAVs in indoor construction environments by improving the flight control algorithm of UAVs. In response to the third challenge, this research also aims to achieve efficient route re-planning capabilities by developing and improving flight control algorithms. At the same time, in order to fit the connection between the algorithm and the targeted field, this study integrated the 3D Building Information Model (BIM) with flight simulation software and developed a flight simulation platform for indoor construction environments. The algorithm was simulated and analyzed through this platform, to verify the advancement and feasibility from the software level. In response to the fourth challenge, this research develops a construction waste recycling collaboration framework that combines UAVs with improved flight control algorithms with ground robots to solve the problem of lack of GPS signals through the related capabilities of ground robots and conduct field verification of the improved flight control algorithm. The collaboration framework and flight control algorithm were rigorously verified through a series of laboratory simulations and field experiments. Research results show that the improved flight control algorithm enhances the UAV's obstacle avoidance capabilities, flight stability, and real-time path adjustment functions. The collaborative framework effectively improves the efficiency of construction waste management, thereby helping to achieve sustainable smart construction management practices and laying the foundation for subsequent related cluster research. Overall, this research work provides an innovative UAV flight control algorithm and UAV application, which solves the current problems encountered by UAV applications in indoor construction environments and improves its obstacle avoidance capabilities and flight stability, and reducing working energy consumption. |
| Rights: | All rights reserved |
| Access: | open access |
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