A Study of Human-Robot Collaborative Construction Task Allocation Problem Considering the Level of Task Danger

In recent years, the construction industry has been expanding its production scale, however the industry is facing problems such as low productivity and frequent safety accidents. With the potential to improve construction quality and safety, construction robots have become an important means of solving the industry's problems. However, given that construction robots are built for specific operating environments, they are not yet able to fully replace manual labor, and thus human-robot collaboration is bound to be the mainstay of construction for quite some time to come. Therefore, this paper focuses on the problem of human-robot collaboration on construction sites, and innovatively proposes a task allocation framework based on the degree of danger. Taking concrete floor slab construction as an example, this paper firstly identifies the dangers in traditional construction scenarios and robotic construction scenarios, and then quantitatively evaluates each danger using the likelihood, exposure, and consequence level evaluation method. Further, this paper designs a task assignment framework that aims to minimize the degree of danger while taking into account the cost-effectiveness. The framework is intended to assist the construction team in making scientific decisions to accurately select the appropriate robot type for introduction and ensure that the overall cost is maintained within an economically feasible interval.