Inspection Robot Localization for Accurate Surface Measurement
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Solution Overview
Problem
Existing inspection systems for industrial surfaces face challenges such as hazardous environments, incomplete inspections, human error, and inaccurate measurements due to angular changes causing the inspection robot's beam to pitch away from the surface, leading to erroneous results.
Innovation Solution
The system employs sensor fusion and mixing to improve localization of the inspection robot, providing high-fidelity region generation, and incorporates features like trajectory data, and uses external data for calibration to ensure accurate positioning and measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the inspection robot uses a laser beam for measurement, then measurement capability is provided, but angular changes cause the beam to pitch away from the surface resulting in measurement errors
Solution Approach 1:
The system continuously monitors the robot's position and orientation using sensors (GPS, accelerometers, gyroscopes) and feeds this information back to the controller, which then adjusts the laser beam direction in real-time to compensate for pitch and maintain accurate measurements
Solution Approach 2:
The patent replaces manual mechanical positioning with automated sensor-based positioning systems (GPS, inertial sensors) that electronically determine and adjust the robot's location and orientation, eliminating human error and improving measurement consistency
2Productivity
If personnel conduct inspections in hazardous environments, then inspection capability is provided, but safety risks and human error increase
Solution Approach 1:
The inspection robot serves as an intermediary between the inspector and the hazardous environment, performing all inspection tasks remotely while the human operator remains in a safe location, completely eliminating exposure to hazardous conditions
Solution Approach 2:
The robot is equipped with autonomous navigation capabilities, onboard sensors, and self-positioning systems that allow it to perform inspections independently without continuous human intervention, improving both safety and efficiency
3Ease of operation
If the inspection system uses manual positioning methods, then ease of operation is maintained, but localization accuracy and inspection completeness deteriorate
Solution Approach 1:
The system replaces manual positioning with automated electronic positioning using GPS receivers, inertial measurement units, and sensor fusion algorithms that continuously calculate precise location and orientation data
Solution Approach 2:
Multiple sensors provide continuous feedback on the robot's position and orientation, which is processed by controllers to maintain accurate localization throughout the inspection process
Data Source
AI summary
A system for inspecting an inspection surface, the system including an inspection robot and one or more processors. The inspection robot includes: a body; an arm coupled to the body; a payload coupled to the arm; and an inspection surface sensor disposed in the payload for inspecting an inspection surface and structured to generate inspection surface data. The one or more processors are structured to: interpret a position value; interpret the inspection surface data; interpret a feature description corresponding to a feature related to the inspection surface; and generate a high-fidelity region of the inspection surface based at least in part on the position value, the inspection surface data, and the feature description.