Mobile Construction Robot Optical Tracking for Fast Drill Alignment
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Solution Overview
Problem
Existing mobile construction robots for drilling in architectural sites require labor-intensive installation of multiple reflector prisms and total stations for accurate positioning, which is slow and less efficient.
Innovation Solution
A mobile construction robot uses an optical tracker and a single optical marker to determine its position and orientation, allowing for faster and accurate alignment by tracking the marker with a robotic arm, reducing the need for multiple prisms and stations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple reflector prisms and total stations are used for positioning, then measurement precision is improved, but device complexity and installation time increase
Solution Approach 1:
The patent extracts the positioning function from the complex multi-prism and total station system, concentrating it into a single optical marker that can be tracked by the robotic arm's sensors. This reduces the number of components from multiple prisms and stations to just one marker, while maintaining positioning accuracy through the robotic arm's precise motion control and sensing capabilities.
Solution Approach 2:
The single optical marker serves multiple functions: it provides positioning information, orientation reference, and serves as a tracking target for the robotic arm. This multi-functional marker replaces the specialized multiple prisms and total stations, simplifying the system while achieving the same positioning objectives through the robotic arm's integrated sensing and control system.
2Measurement precision
If multiple reflector prisms and total stations are installed, then measurement precision is improved, but installation time and productivity decrease
Solution Approach 1:
The patent removes the time-consuming installation of multiple total stations and prisms, retaining only the essential single optical marker that can be quickly positioned and tracked by the robotic arm's sensing system. This extraction of the core positioning function eliminates the labor-intensive setup process while maintaining measurement precision.
Solution Approach 2:
The optical marker is pre-mounted on the workpiece or positioning structure before the robotic arm arrives. This preliminary placement allows the robotic arm to immediately begin tracking and positioning operations without waiting for complex station installations, significantly reducing setup time while ensuring accurate positioning from the start.
3Loss of time
If manual alignment of visible laser line is used, then installation time is reduced, but measurement precision deteriorates
Solution Approach 1:
The robotic arm uses sensors to continuously track the optical marker's position and provides feedback to the control system. This closed-loop feedback mechanism enables automatic, high-precision alignment without manual intervention, eliminating the trade-off between speed and accuracy by making the alignment process both fast and precise through real-time sensing and control.
Solution Approach 2:
The patent replaces the manual mechanical alignment process with an automated optical tracking system. The robotic arm's sensors automatically detect the optical marker's position and calculate the required alignment, substituting human manual alignment operations with automated optical-mechanical systems that achieve both speed and precision simultaneously.
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 method enables rapid and precise positioning of the robot on a construction site without sacrificing accuracy, enhancing operational efficiency and reducing installation complexity.
Implementation Method 1
Tracking an optical marker mounted to end effector in the at least first position and second position of the end effector with the optical tracker
Data Source
AI summary
A smart drilling system that includes a controller, a drilling machine with an optical marker, and a tracker station at a fixed spot of a construction site. The drilling machine includes an optical marker. The tracker station acquires the location of the drilling machine and its drill through tracking the optical marker. The drilling machine is moved into positions of multiple different work regions. The tracker station sequentially acquires the location of the multiple different work regions and transmits the acquired location information to the controller, such that, by using the transmitted locations, the controller converts drilling machine coordinates into desired perforation coordinates and recognizes an orientation of the drilling machine. The controller also recognizes a perforable point at a current position of the drilling machine through the location information of the drilling machine.