Construction Robot Camera Alignment for Precise Work Positioning
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Solution Overview
Problem
Construction robots face challenges in achieving high precision when performing construction tasks, especially with long-range robot arms, due to drift effects, environmental influences, and the need for precise positioning of tools and consumables.
Innovation Solution
A procedure that involves localizing a work position using a camera positioned vertically above the work area, with image recording and evaluation to ensure precise alignment, and regular calibration of the camera's offset to maintain accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a construction robot with a long reach (2m or more) is used, then the work area coverage is improved, but positioning accuracy deteriorates due to drift effects and environmental influences
Solution Approach 1:
The patent replaces the mechanical positioning system with an optical system. A camera is mounted on the robot arm to capture images of the work position, and image processing algorithms determine the precise location. This optical measurement system compensates for mechanical drift and positioning inaccuracies in long-reach robot arms, maintaining high positioning accuracy despite the extended work area coverage.
2Manufacturing precision
If a rigid and heavy robot arm is used to improve positioning accuracy, then manufacturing precision is improved, but device complexity and cost increase
Solution Approach 1:
Instead of relying on a rigid and heavy mechanical structure to ensure positioning accuracy, the patent uses an optical measurement system with a camera and image processing. This approach achieves high positioning precision without requiring an overly complex or heavy robot arm structure, thereby reducing device complexity and cost while maintaining the required manufacturing precision.
3Device complexity
If the camera is positioned obliquely to the work position, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent employs dynamic image processing algorithms that can handle various camera angles and positions. Rather than requiring the camera to be positioned vertically above the work position, the system uses computational methods to accurately determine the work position from images captured at oblique angles, maintaining measurement precision while allowing flexibility in camera positioning.
Data Source
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AI summary
The invention relates to a method (1000) for carrying out construction work at a work position (36) on a wall (32), a ceiling or a floor by a construction robot (10), comprising the phases (1000, 1010, 1020, 1030, 1040, 1050): - Locating a work position (36), wherein a camera (24) is positioned substantially perpendicularly, in particular with a viewing angle (alpha) of 70 to 110 degrees, above the work position (36) or at least above an expected work position (36) corresponding to the work position (36), - Taking at least one image of the work position (36) by the camera (24), - Moving at least one element from a group consisting of a machine tool (22), a tool (44) and/or a consumable to the work position (36) and - Carrying out the construction work at the work position (36) using the element. The invention further relates to a construction robot (10).It makes it possible to carry out construction work cost-effectively and at particularly precisely localized work positions (36).