Humanoid Robot Leg-Wheel Platform for Mobile Metrology Accuracy
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Solution Overview
Problem
Existing mobile robots for reality capture lack the precision and flexibility required for metrology-grade geometric measurements, as they often have limited measurement accuracy and mobility issues that hinder the recognition of objects or deformations within environments, such as partially open windows and doors.
Innovation Solution
A humanoid robot with mechanically actuated legs, arms, and a modular battery system that allows for swappable batteries, enabling autonomous operation and precise locomotion, combined with advanced sensing and mapping capabilities, including lidar and time-of-flight units, to provide detailed environmental data and adapt to different terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mobile robot structure with moveable parts and joints is used to provide mobility and flexibility, then the robot can navigate different terrains and access various positions, but the additional degrees of freedom make providing precise measurement more difficult and introduce mechanical load on sensitive metrology sensors
Solution Approach 1:
The robot system is divided into two independent subsystems: a mobile platform for navigation and a separate metrology sensor system for precise measurement. The mobile robot comprises a main body with actuators for movement, while the metrology sensor is mounted as a separate adjustable support that can be positioned independently. This segmentation allows the mobile platform to provide flexibility and access while the separate sensor system maintains measurement precision without being affected by platform movements or vibrations.
2Measurement precision
If heavy metrology devices are used to provide coordinate measurement data with high accuracy, then measurement precision better than millimeter or micrometer range is achieved, but the devices are bulky and require fixed position installation with limited mobility
Solution Approach 1:
The system separates the heavy metrology measurement function from the mobile platform. The mobile robot provides navigation and positioning capabilities, while the metrology sensor is mounted on an adjustable support structure that can be independently positioned and stabilized. This allows the precision measurement device to be deployed mobile while maintaining its required measurement accuracy, eliminating the need for fixed installation.
Solution Approach 2:
An adjustable support structure acts as an intermediary between the mobile robot platform and the metrology sensor. This intermediary provides a stable mounting platform for the sensitive measurement device, isolating it from vibrations and movements of the mobile platform while still allowing the system to be transported and repositioned easily.
3Adaptability or versatility
If a mobile robot is used for surveillance purposes, then mobility and flexibility are provided, but limited measurement accuracy prevents recognition of objects or deformations within the environment at millimeter or micrometer range
Solution Approach 1:
The system divides functionality into mobile surveillance platform and separate precision measurement capability. The mobile robot with cameras and sensors provides general surveillance and navigation, while the adjustable support with metrology sensor provides detailed geometric measurement when needed, enabling both broad surveillance coverage and precise object/deformation detection.
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 robot achieves enhanced flexibility and efficiency in data acquisition, allowing for precise metrology measurements and autonomous navigation, including the ability to recognize and interact with movable barriers, thereby improving infrastructure surveillance and workflow support.
Implementation Method 1
a wheel at a distal end away from the knee joint for contacting the ground in order to provide the locomotion
Implementation Method 2
a lidar unit configured to generate lidar data to provide a coordinative scan of the environment
Implementation Method 3
a time-of-flight unit configured to generate three-dimensional map data of the environment
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.