Mobile Printing Robot Localization for Precise Construction Marking
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Solution Overview
Problem
Mobile robots struggle to achieve precision printing on construction sites due to limitations in localization accuracy, with existing LiDAR systems providing only centimeter-level accuracy, which is insufficient for precise construction markings requiring less than 1/16" (1.6mm) precision.
Innovation Solution
The use of Absolute Positioning Devices (APDs) like total stations and laser trackers, combined with sensor fusion and line printing pathway optimization algorithms, enables precise determination and navigation of the mobile robot's position, allowing for accurate printing of markings on construction surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR sensors are used for robot localization, then the robot can navigate autonomously, but the positioning accuracy is limited to centimeter level which is insufficient for precision printing requirements
Solution Approach 1:
The patent combines multiple positioning systems (APD, LiDAR, IMU, wheel encoders) into a unified localization framework. The APD provides high-accuracy absolute position references, while LiDAR and other sensors fill in between measurements, creating a hybrid system that achieves sub-centimeter accuracy without relying on a single complex system.
Solution Approach 2:
The patent introduces fiducial markers as intermediary reference objects placed on the construction site. These markers serve as intermediate reference points that the robot can detect and use to calculate its position, bridging the gap between sparse APD measurements and continuous navigation requirements.
2Productivity
If the robot prints lines in a single continuous pass, then printing speed is maximized, but obstacles on the construction site block the robot's path and prevent complete line printing
Solution Approach 1:
The patent segments continuous layout lines into multiple printable segments based on obstacle locations. The line printing pathway optimization algorithm identifies obstacles and divides lines into segments that can be printed in sequence as the robot navigates around obstacles, allowing the robot to maintain productivity while adapting to site conditions.
Solution Approach 2:
The patent implements dynamic pathway optimization where the robot can adjust its printing plan in real-time based on detected obstacles. The system dynamically recalculates which line segments to print next and from which directions, allowing flexible adaptation to changing site conditions while maintaining overall printing efficiency.
3Manufacturing precision
If the robot navigates to print lines from optimal directions, then printing accuracy is improved, but the total navigation distance and time increase
Solution Approach 1:
The patent changes the parameter optimization objective from minimizing total navigation distance to maximizing the percentage of lines printable from optimal directions. The line printing pathway optimization algorithm selects printing directions that ensure the robot approaches lines from favorable angles for accuracy, even if this requires additional navigation, thereby prioritizing printing quality over speed.
Data Source
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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.