Mobile Construction Robot Positioning With Single-Marker Optical Tracking
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Solution Overview
Problem
Existing mobile construction robots for drilling holes in architectural sites require accurate positioning and orientation, which is time-consuming with current methods involving two separate reflector prisms and a total station, and lacks efficiency when using a single prism.
Innovation Solution
A mobile construction robot uses an optical tracker and a single optical marker to determine its position and orientation, allowing faster alignment and tracking without sacrificing accuracy by measuring the marker's positions relative to the robot and tracker.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two separate reflector prisms and a total station are used for positioning, then measurement accuracy is improved, but the time required for positioning and orientation determination increases
Solution Approach 1:
The patent combines two separate reflector prisms into a single optical marker that can be tracked by an optical tracker. This merging reduces the number of measurement operations needed while maintaining positioning accuracy, thereby reducing the time required for position and orientation determination.
Solution Approach 2:
The patent replaces the mechanical total station measurement system with an optical tracking system. The optical tracker continuously tracks the optical marker's position in three-dimensional space, enabling real-time position and orientation determination without the time-consuming manual measurement process of the total station.
2Productivity
If a single reflector prism is used with a total station, then the positioning speed is improved, but measurement accuracy significantly decreases
Solution Approach 1:
The patent replaces the total station measurement system with an optical tracking system that uses a single optical marker. This substitution enables both fast positioning speed and high measurement accuracy by continuously tracking the marker's three-dimensional position optically, rather than through manual total station measurements.
3Ease of operation
If initial alignment of the optical tracker towards the optical marker is required, then setup complexity increases, but continuous tracking capability is improved
Solution Approach 1:
The patent performs preliminary alignment of the optical tracker towards the optical marker during the initial setup phase. This preliminary action establishes the coordinate system transformation relationships, enabling continuous automatic tracking throughout the robot's operation without requiring repeated alignment operations.
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
This method enables faster and accurate determination of the robot's position and orientation, improving operational efficiency by reducing the need for initial alignment and allowing continuous tracking during movement.
Implementation Method 1
an optical tracker and a single optical marker mounted to end effector of the robotic arm. The system achieves a resolution limited by the optical tracker
Data Source
Figure 1
Figure 2~3
AI summary
A method of operation the mobile construction robot (1) is based on: Placing an optical tracker (22) on the architectural construction site (5). Parking a driving platform (2) of the mobile construction robot (1) in an area of the architectural construction site (5). Moving an end effector (4) of the mobile construction robot (1) in at least a first position and a second position by controlling a robotic arm (3) mounted on the driving platform (2). Measuring the at least first position and second position relative to the driving platform (2) using sensors (17) mounted on the robotic arm (3). Tracking an optical marker (21) mounted to end effector (4) in the at least first position and second position of the end effector (4) with the optical tracker (22). Measuring the at least first position and second position of the optical marker (21) relative to the optical tracker (22) with the optical tracker (22). And, determining position and orientation of the driving platform (2) based on the at least first position and second position of the end effector (4) measured relative to the driving platform (2) and the at least first position and second position of the optical marker (21) measured relative to the optical tracker (22).