Mobile Printing Robot Path Planning for Precise Construction Marking
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Solution Overview
Problem
Mobile robots face challenges in achieving precise positioning on construction sites due to limitations in LiDAR accuracy and existing localization methods, which hinder their ability to print markings with the required precision for construction applications.
Innovation Solution
The implementation of a mobile printing robot system that utilizes absolute positioning devices (APDs) like total stations and laser trackers, combined with line printing pathway optimization algorithms, to enhance positioning accuracy and adapt to obstacles and constraints, allowing for precise printing of layouts, lines, symbols, and fiducials on construction surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR-based localization is used for mobile robot positioning, then the robot can navigate autonomously, but positioning precision is limited to centimeter accuracy which is insufficient for construction marking requirements
Solution Approach 1:
The patent introduces fiducial markers as intermediary objects placed at known locations in the construction environment. The mobile robot uses a camera to detect these markers and calculates its position based on the known marker positions and detected marker positions, achieving sub-centimeter positioning precision without requiring complex LiDAR systems.
2Productivity
If human crews perform construction layout marking, then markings can be made with required precision, but labor costs are high and the process is error-prone
Solution Approach 1:
The mobile robot autonomously performs the marking task by navigating to calculated positions and printing markings on the construction surface. The system self-corrects positioning errors by using fiducial markers for real-time location verification, eliminating the need for human intervention while maintaining required precision standards.
3Area of stationary object
If the mobile robot attempts to print all layout lines without optimization, then complete coverage is achieved, but printing time and complexity increase due to robot movement constraints
Solution Approach 1:
The patent performs preliminary optimization of the printing pathway by analyzing the construction layout and robot constraints before actual printing. The system divides the layout into printable segments, determines optimal printing sequences, and plans efficient robot movement paths in advance, reducing total printing time while ensuring complete coverage.
Data Source
AI summary
A mobile printing robot prints layouts or other construction information on a construction surface. A line printing pathway optimization method performs at least one optimization of a listing of lines to be printed. In some examples, the line printing pathway optimization includes at least one of line sorting, line orientation, line cropping, and line splitting.