營建工程面臨著日益增長的工業需求，傳統的人力勞動已無法應對，因此引入自動化機器人成為提高生產效率和品質的解決方案。然而施工環境的多樣性和不確定性，使機器人在營建工地的應用面臨著挑戰。為了克服這些挑戰，需要利用BIM（建築資訊模型）提供的精確數據和準確性，使機器人能夠更好地應對各種施工環境，提高施工效率和品質。傳統的測量方法耗時費力，然而，點雲掃描技術可以快速、高效地收集空間數據並生成 3D 模型，尤其對於噴漆機器人的應用，點雲資料和 BIM 資訊可為機器人的任務規劃提供重要訊息，但如何將這些資訊與機器人協作仍然是個挑戰。近年來，延展實境技術結合虛擬和實際環境，為機器人協作系統提供新的可能性，在解決點雲 BIM 資訊和噴漆機器人協作的問題時，需要進一步探討延展實境技術在工地噴漆機器人協作中的應用。

本研究為改善 BIM 資訊未能完成呈現營建工地之現場情況以及難以引入自動化機器人的問題，以噴漆作業為例，解析噴漆工程於工地現場之人機協作需求，了解工程現地施作噴漆流程與噴漆作業控制因子，探討影響噴漆流程與成果的因素，歸納出混合實境模式下人機協作所需的資訊與操作需求，利用光達掃描儀獲得的點雲和建築資訊模型建構一虛實整合模擬環境，將此模擬環境導入混合實境開發環境，再建立機器人控制系統結合噴塗作業路徑自動化生成系統。同時，結合前述內容，開發出使用混合實境技術的人機協作功能，並應用於施工現場進行機器人施作規劃。該系統可將機器人控制系統與混合實境裝置進行遠端連線，從而將控制指令發佈至桌上型機械手臂，建築資訊模型於其中提供各項物件資訊，以輔助噴漆作業規劃透過虛實整合與人機協作，可提高噴漆作業的效率和準確性，同時減少人為錯誤和潛在的安全風險。

Currently, industrial robots face challenges in construction sites due to the diverse nature and high uncertainty of construction tasks. Building Information Modeling (BIM) also faces difficulties in being effectively applied on-site. To enhance the potential of applying BIM and industrial robots in construction settings, this study focuses on the analysis of human-robot collaboration requirements in spray painting operations. The study aims to understand the on-site spray painting process and control factors, as well as identify the factors that affect the process and outcomes of spray painting. By summarizing the information and operational requirements for human-robot collaboration in a mixed reality mode, a simulated environment is created by integrating point clouds obtained from a laser scanner with the BIM. This simulated environment is then incorporated into a mixed reality development environment, where a robot control system is established to generate automated spray painting paths. Additionally, the study develops human-robot collaboration functionalities using mixed reality technology and applies them to robot planning in construction sites. The system enables remote connection between the robot control system and mixed reality devices, allowing control instructions to be sent to the desktop robotic arm. The BIM provides coordinates and object information to assist in spray painting operation planning. Through the integration of virtual and real elements and human-robot collaboration, efficiency and accuracy in spray painting operations can be improved while reducing human errors and potential safety risks.

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