Humanoid Robot Metrology Architecture for Mobile Precision Scanning
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Solution Overview
Problem
Existing mobile robots for reality capture and metrology have limited measurement accuracy and mobility, making it difficult to recognize objects or deformations within environments at the millimeter or micrometer range, and their structure introduces additional degrees of freedom that complicate precise measuring.
Innovation Solution
A humanoid robot with mechanically actuated legs, wheels, and arms, equipped with swappable batteries, metrology-grade sensors, and advanced scanning capabilities, allowing for precise locomotion and data acquisition while enabling battery replacement during operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If mobile robot structure with moveable parts and joints is used to provide mobility and flexibility, then adaptability is improved, but device complexity increases and measurement precision deteriorates
Solution Approach 1:
The robot system is divided into two functional segments: a mobile platform for transportation and a separate metrology device for precise measurement. The metrology device can be detached from the mobile robot, allowing the measurement function to be referenced to a fixed position while the mobile platform provides mobility and flexibility for accessing different measurement locations.
2Adaptability or versatility
If mobile robot structure is used to reduce space and increase flexibility, then adaptability is improved, but device complexity increases
Solution Approach 1:
The system separates the mobile robot platform from the metrology device. The mobile robot provides transportation and positioning capabilities while the metrology device remains a separate, simpler component that can be referenced to fixed positions for measurements, reducing overall system complexity.
Solution Approach 2:
A reference system or intermediary mechanism is introduced to connect the mobile robot with the metrology device. This intermediary allows the mobile platform to transport the measurement system while maintaining the ability to reference measurements to fixed positions, simplifying the control architecture.
3Adaptability or versatility
If mobile robot is used to provide mobility, then adaptability is improved, but measurement precision deteriorates due to additional degrees of freedom
Solution Approach 1:
The measurement function is segmented from the mobile platform. The metrology device can be detached and referenced to fixed positions for high-precision measurements, while the mobile robot provides transportation to various locations. This segmentation eliminates the negative effect of mobile robot degrees of freedom on measurement precision.
Data Source
AI summary
The invention relates generally to a mobile robot, e.g. a humanoid robot, configured to provide reality capture and metrology grade geometric measurement, e.g. to generally support infrastructure surveillance and/or to support workflows in the field of metrology. Aspects of the mobile robot, inter alia, relate to providing increased accuracy of metrology grade devices to overcome deficiencies in mobile reality capture. On the other hand, benefits of mobility provided by mobile robots are transformed to the field of metrology while maintaining metrology grade accuracy.