Concrete Surface Mapping Robot Using Rotational Laser Scanning
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Solution Overview
Problem
There is a need for less complex and cost-effective devices and methods for mapping the boundary geometry of concrete surfaces to enhance the automation of concrete surface processing, as existing technologies like lidar devices are expensive and computationally intensive.
Innovation Solution
A concrete surface processing machine equipped with a single-beam laser range finder that rotates to scan the environment, combined with sensors like an electronic compass, gyroscope, and IMU, simplifies simultaneous localization and mapping (SLAM) by reducing computational burden and cost, while multiple laser range finders provide high and low resolution range data for improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If advanced lidar devices are used for mapping concrete surfaces, then mapping accuracy and automation capability are improved, but device complexity and cost increase significantly
Solution Approach 1:
The patent replaces expensive, complex lidar devices with a simple, low-cost laser range finder that provides sufficient mapping accuracy for concrete surface processing. The laser range finder is a much simpler and cheaper component that achieves the necessary measurement precision through rotational scanning rather than complex omnidirectional sensing.
Solution Approach 2:
The patent substitutes the electronic/optical lidar scanning system with a mechanical rotation system. Instead of using complex electronic beam steering and omnidirectional sensors, the system mechanically rotates the entire processing machine to enable a fixed-direction laser range finder to scan the environment, achieving similar mapping capabilities with simpler technology.
2Extent of automation
If advanced lidar devices are used for mapping concrete surfaces, then automation capability is improved, but computational burden and cost increase
Solution Approach 1:
The patent uses a computationally simple laser range finder instead of a computationally intensive lidar system. The simpler sensor generates less complex data that requires less computational processing for SLAM (Simultaneous Localization and Mapping), reducing the computational burden while maintaining automation capability.
Solution Approach 2:
The patent extracts only the essential mapping and boundary detection functionality from complex lidar systems, implementing a simplified version using a basic laser range finder. By taking out only the necessary functions (distance measurement and boundary detection) and implementing them with simpler components, the system achieves automation without the excessive computational burden of full-featured lidar.
3Device complexity
If a fixed direction narrow beam laser range finder is used, then device complexity and cost are reduced, but scanning capability is limited
Solution Approach 1:
The patent merges the laser range finder with the entire processing machine structure, so that rotating the machine body rotates the laser range finder. This combination allows a fixed-direction sensor to achieve omnidirectional scanning capability through the rotational motion of the host machine, effectively compensating for the sensor's limited field of view.
Solution Approach 2:
The patent uses the machine's rotational motion as an intermediary to enable scanning. Instead of the laser range finder itself having scanning capability, the rotation of the entire machine serves as an intermediary mechanism that directs the fixed beam across different angles, achieving environmental scanning without requiring a complex scanning sensor.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides robust and low-cost laser scanning capability for concrete surface mapping, enabling efficient SLAM applications and obstacle detection, with the ability to generate accurate topology maps and inspect the surface for quality parameters like cracks and scratches.
Implementation Method 1
The laser range finder emits a single beam of light in a fixed direction to measure the distance to the first point in space that the beam hits
Implementation Method 2
The concrete surface processing machine is arranged to rotate about an axis normal to the base plane by the one or more support elements
Data Source
AI summary
A concrete surface processing machine (100) for processing a concrete surface, wherein the concrete surface processing machine is arranged to be supported on the concrete surface by one or more support elements (150) extending in a base plane (101) of the machine parallel to the concrete surface, wherein the concrete surface processing machine is arranged to rotate (R) about an axis (C) normal to the base plane (101) by the one or more support elements (150), wherein the concrete surface processing machine comprises control unit (110) connected to at least one laser range finder (120) arranged pointing in a fixed direction from the concrete surface processing machine, and wherein the control unit (110) is arranged to determine a boundary geometry of the concrete surface based on a sequence of ranges obtained by the laser range finder (120).