營造產業缺工問題日益嚴重，以油漆工程為例，施工人員的技術需求高，上下攀爬進行施工的過程不僅耗費體力且具有跌落之風險，機器人之引入雖可改善營建工地缺工及環境惡劣的問題，然而機器人較適合於穩定環境進行重複性作業，營建工地施工內容高度客製化且環境不斷變動皆不利於機器人的使用。隨著全球進入工業4.0時代，人機協作、虛實交互、物聯網等為智慧製造的關鍵技術，其中協作型機器人可以達成靈活的動作規劃，減少作業流程的設置時間以達到彈性製造與產品客製化的目標，協作型機器人雖然可以應用至營建工地，然而當前協作方式的使用效率仍然不足，因此國內外研究開始利用建築資訊模型 (Building Information Modeling, BIM) 所具有的建築3D幾何資訊輔助機器人的任務規劃，以及利用混合實境技術 (Mixed Reality, MR) 的虛實互動能力作為新興的機器人協作媒介，但是BIM資訊無法直接應用於機器人系統，並且混合實境技術與工地機器人的結合也少有研究，如何結合上述技術滿足工地油漆機器人的協作需求仍是一大難題。
本研究為改善BIM資訊與機器人系統交互性不足以及當前機器人協作方式效率低落的問題，首先解析協作型工地油漆機器人作業流程所需資訊與操作需求，制定符合機器人系統需求的BIM至MR資料傳遞方法，接著使用機器人作業系統 (Robot Operating System, ROS) 建立油漆機器人控制系統，以此控制機器人硬體設備與作為機器人動作計算核心，並藉由網路協定建立機器人系統與MR環境的即時通訊連接，而後配合於MR環境開發的應用功能，建置結合BIM與MR的油漆人機協作系統，協作者可藉由虛實機器人的互動機制達成直覺且高效的機器人規劃控制，最終本研究將透過實體機器人油漆實驗進行系統效能的驗證，本研究人機協作系統可解決工地自動化的困境，並提升工地機器人應用的可行性。

The problem of labor shortage in the construction industry is becoming serious. Taking the interior painting as an example, the technical level for personnel is high. The process of climbing ladder to work not only exhausting but also has the risk of falling. Although the introduction of robots can solve the labor shortage and the problem of harsh environment. However, robots are more suitable for repetitive operations in a stable environment rather than in construction site. The highly customized work content and the dynamic environment go against the use of robots.
As the world enters the era of Industry 4.0, human-robot collaboration, virtual-real interaction, and the Internet of Things are the key technologies for smart manufacturing. Among them, collaborative robots can achieve flexible action planning and reduce the setup time of the operation process to achieve flexible manufacturing and product customization. Although collaborative robots can be applied to construction sites, the efficiency of the current collaborative methods is still insufficient. Therefore, domestic and foreign researches have begun to use the architectural 3D geometric information of Building Information Modeling (BIM) to assist the robot's development. Mission planning and the virtual-real interaction capability of mixed reality technology (MR) are used as an emerging robot collaboration medium, but BIM information cannot be directly applied to robot systems, and there is little research on the combination of mixed reality technology and construction robots. How to combine the above technologies to meet the collaborative needs of construction painting robots is still a big problem.
In order to improve the lack of interaction between BIM information and robot systems and the low efficiency of current robot collaboration methods, this research first analyzes the information and operational requirements of the collaborative construction painting robot operation process and formulates a BIM to MR data transfer method that meets the requirements of the robot system.
Then this research uses the Robot Operating System (ROS) to establish a painting robot control system, so as to control the robot hardware equipment and act as the core of the robot motion calculation and establish an instant communication connection between the robot system and the MR environment through network protocols. Then, with the application functions developed in the MR environment, a painting human-robot collaboration system combining BIM and MR is built. Collaborators can achieve intuitive efficient robot planning and robot control through the interaction mechanism of virtual and real robots. Finally, this research will use the physical robot painting experiments to verify the system efficiency. The human-robot collaboration system in this study can solve the dilemma of construction automation and improve the feasibility of construction robot applications.

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