Device Head Positioning with LiDAR and Distance Sensor Fusion

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing on-board sensor devices, such as LiDAR, fail to achieve the required millimeter-range accuracy for determining the position and orientation of a device head in dynamically changing construction environments, limiting their use in construction tasks, while external sensors require pre-referencing and are limited to position determination only.

Innovation Solution

A method using a sequence of steps involving an on-board LiDAR sensor and a distance measuring device connected to the device head, with error minimization calculations to refine the position and orientation based on geometry models and measured distance values, allowing for centimeter-range accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If on-board sensor devices such as LiDAR are used to determine position and orientation, then the device can operate autonomously without external referencing, but the measurement precision is insufficient (centimeter range instead of millimeter range)

Engineering Contradiction:

Improveautonomous operation without external referencingVSAvoidposition and orientation accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The measurement system is segmented into multiple distance measuring sensors (at least three sensors) that measure distances to different target objects. This segmentation allows the system to collect multiple independent measurement values that can be processed through error minimization to achieve millimeter-range precision while maintaining autonomous operation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system implements feedback through error minimization calculations. Measured distance values are compared with expected geometric relationships, errors are calculated and minimized through iterative optimization, and the position and orientation are continuously refined based on this feedback loop, transforming centimeter-level raw measurements into millimeter-level precision.

Inventive Principle:

Principle #23Feedback

2Measurement precision

If external sensor devices such as total stations are used to achieve millimeter-range accuracy, then measurement precision is improved, but the device complexity increases due to pre-referencing requirements and limited functionality

Engineering Contradiction:

Improveposition determination accuracyVSAvoidpre-referencing and setup procedures

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system performs self-service by autonomously determining position and orientation without external referencing. The distance measuring sensors on the device head directly measure distances to target objects in the environment, and the control device independently calculates position and orientation through error minimization, eliminating the need for external total stations and pre-referencing procedures.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system achieves multi-functionality by simultaneously determining both position and orientation using the same on-board sensor suite. Unlike total stations that only provide position data, this system derives both positional and orientational information from multiple distance measurements, eliminating the need for separate external devices.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If multiple distance measuring sensors are used to increase measurement precision, then the measurement precision is improved, but the device complexity and cost increase

Engineering Contradiction:

Improveposition and orientation accuracyVSAvoidnumber of sensors and calculation steps

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system changes parameters by using at least three distance measuring sensors that provide multiple measurement values. This parameter change (from single to multiple sensors) enables the error minimization algorithm to work with sufficient measurement data to achieve millimeter-range precision while keeping the device head compact and the system manageable.

Inventive Principle:

Principle #35Parameter changes

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

Achieves precise setting of device head position and orientation in construction environments by iteratively adjusting and minimizing errors, ensuring millimeter-range accuracy through multiple measurements and compensation calculations.

Implementation Method 1

a distance measuring device (16) and a control device (17) connected to the device head (10)

Methodology Applied

Scientific EffectTime of Flight: Time of Flight

Data Source

PatentUS12571916B2Method for setting more precisely a position and/or orientation of a device head

Publication Date: 2026.03.10 HILTI AG

AI summary

A method for setting more precisely a position and/or an orientation of a device head in a measuring environment by a distance measuring device which has a number of M, M≥1, distance measuring sensors and which is connected to the device head. A control device is communicatively connected to the distance measuring device and an on-board sensor device. The position and/or the orientation of the device head is determined by the on-board sensor device and the position and/or the orientation of the device head determined by the on-board sensor device is set more precisely by the control device.