Mobile Construction Robot Optical Alignment With One Marker
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Solution Overview
Problem
Existing mobile construction robots for drilling holes in architectural sites require accurate positioning and orientation, which is time-consuming with traditional methods using a total laser station and two reflector prisms, and less accurate methods with a single prism and manual alignment.
Innovation Solution
A mobile construction robot system utilizing an optical tracker and a single optical marker for determining position and orientation, allowing faster and accurate alignment by tracking the marker's movement with sensors and a robotic arm, enabling faster operation without sacrificing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a total laser station with two reflector prisms is used for positioning, then measurement precision is improved, but loss of time increases due to the need to measure both prisms after the robot reaches its drilling position
Solution Approach 1:
The patent extracts the alignment measurement process from the traditional two-prism system to a single optical marker system. By using one optical marker instead of two reflector prisms, the system reduces the measurement steps required while maintaining positioning accuracy through the optical tracker's ability to precisely track the single marker's position and orientation.
Solution Approach 2:
The optical tracker continuously tracks the optical marker throughout the robot's movement, rather than waiting until the robot reaches its final position. This preliminary continuous tracking allows the system to have positioning data available earlier, reducing the post-positioning measurement time required in traditional systems.
2Loss of time
If a single reflector prism with manual alignment is used, then loss of time is reduced, but measurement precision deteriorates significantly
Solution Approach 1:
The patent replaces the manual mechanical alignment process with an automated optical tracking system. The optical tracker automatically tracks the optical marker's position and orientation without requiring manual intervention, thereby maintaining high measurement precision while reducing alignment time compared to manual methods.
3Measurement precision
If two separate optical markers are tracked, then measurement precision is improved, but device complexity and tracking time increase
Solution Approach 1:
The patent merges the positioning and orientation measurement functions into a single optical marker system. Instead of using two separate markers that would require independent tracking, one optical marker is designed to provide both position and orientation information simultaneously, reducing system complexity while maintaining measurement precision.
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 system achieves accurate and efficient positioning and orientation of the robot, reducing the time required for alignment while maintaining precision, as the optical tracker can follow the movement of the end effector between predefined positions.
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. Measuring the at least first position and second position of the optical marker relative to the optical tracker with the optical tracker.
Data Source
AI summary
A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.