Autonomous Media Dispensing on Large Surfaces

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Solution Overview

Problem

Autonomously dispensing media on large, three-dimensional surfaces is challenging due to difficulties in achieving accurate spatial registration and positioning, especially when surfaces are dull, dirty, or dangerous, and existing gantry systems are limited in mobility and accuracy.

Innovation Solution

A system comprising a base, end-effector, and metrology system that measures and adjusts the position and orientation of the end-effector relative to the surface, allowing for autonomous and accurate dispensing of media on surfaces with dimensions of at least two meters, using a mobile platform to reduce reliance on gantry system accuracy and enhance dispensing speed and accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a gantry system is used to position the programmable robot, then positioning accuracy may be improved, but the system occupies a relatively large area and the gantry system may not be easily relocatable

Engineering Contradiction:

Improvepositioning accuracyVSAvoidspace occupied

Core Design Contradiction:

Measurement precisionVSArea of stationary object

Solution Approach 1:

The patent replaces the mechanical gantry system with a mobile platform equipped with sensors (cameras, LIDAR, IMU) and computational algorithms for real-time positioning and orientation estimation. This substitution eliminates the need for large fixed infrastructure while maintaining positioning accuracy through software-based navigation and sensor fusion techniques.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system changes the fundamental parameters of the positioning approach by transitioning from fixed mechanical guidance to dynamic sensor-based measurement. The mobile platform uses multiple sensors to continuously estimate position and orientation parameters, allowing relocation to different surfaces and environments without fixed infrastructure.

Inventive Principle:

Principle #35Parameter changes

2Productivity

If the end-effector moves relatively quickly to achieve dispensing over a limited time period, then productivity is improved, but positioning accuracy becomes difficult to achieve

Engineering Contradiction:

Improvedispensing speedVSAvoidpositioning accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The system implements real-time feedback through multiple sensors (cameras, LIDAR, IMU) that continuously monitor the end-effector's position and orientation. The controller processes this feedback data and dynamically adjusts motion commands to maintain positioning accuracy even at high speeds. The real-time position and orientation estimation provides continuous feedback for closed-loop control during rapid movement.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system transitions from static positioning to dynamic positioning by using real-time sensor data and computational estimation to adapt to changing conditions during motion. The mobile platform and end-effector system is designed to be dynamically controllable, with the ability to adjust trajectory and positioning in real-time based on sensor feedback and estimated state.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS8838273B2System for autonomously dispensing media on large scale surfaces

Publication Date: 2014.09.16 SOUTHWEST RES INST

AI summary

The present disclosure relates to a system, method and article which may be configured to autonomously dispense a medium onto a relatively large surface relatively accurately.