Mobile Printing Robot Positioning Through APD Shadow Loss
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Solution Overview
Problem
Mobile robots used for construction printing face challenges in maintaining precision and accuracy when obstacles obstruct the line of sight to external sensors, leading to temporary loss of position data and requiring operator intervention to re-establish sensor locks, resulting in productivity loss and labor inefficiencies.
Innovation Solution
The mobile robot employs a retroreflective device and an Absolute Positioning Device (APD) to maintain position accuracy by using a state estimator that fuses sensor data, allowing it to continue operations and re-establish APD lock autonomously when line of sight is lost, and sends position updates to the APD to aid in re-locking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the mobile robot uses an external Absolute Positioning Device (APD) to achieve high precision position measurements, then the manufacturing precision and measurement precision are improved, but the reliability deteriorates when obstacles obstruct the line of sight between the robot and the APD
Solution Approach 1:
The system dynamically changes operational parameters by switching between APD-based absolute positioning mode and sensor suite-based relative positioning mode. When APD lock is lost, the robot transitions to using its onboard sensors (odometry, IMU, visual odometry) to maintain positioning, allowing continuous operation despite line-of-sight obstructions.
Solution Approach 2:
The onboard sensor suite acts as an intermediary positioning system that bridges the gap when the primary APD system cannot provide measurements. This secondary positioning system maintains adequate accuracy for construction layout tasks even when APD lock is lost, ensuring continuous reliable operation.
2Adaptability or versatility
If the robot operates in shadowed regions where APD lock is lost, then the adaptability to different construction site conditions is improved, but the measurement precision deteriorates
Solution Approach 1:
The robot dynamically adjusts its positioning strategy based on environmental conditions. When entering shadowed regions where APD lock is lost, the system transitions to a hybrid approach using onboard sensors, and can further adjust by reducing speed or changing navigation patterns to maintain adequate positioning accuracy for construction layout tasks.
Solution Approach 2:
The robot is equipped with onboard sensor suites (odometry, IMU, visual odometry) as a preliminary backup positioning system that is ready to activate when APD lock is lost. This preliminary preparation ensures seamless transition and maintains operational capability in shadowed regions without interruption.
3Measurement precision
If the robot requires operator intervention to re-establish sensor locks when line of sight is obstructed, then the measurement precision can be maintained, but the productivity and ease of operation deteriorate
Solution Approach 1:
The robot autonomously manages positioning system transitions without operator intervention. When APD lock is lost, the system automatically switches to onboard sensor-based positioning and can independently attempt to re-establish APD lock by adjusting its position or orientation, eliminating the need for operator intervention and maintaining continuous productivity.
Solution Approach 2:
The system continuously monitors APD lock status and provides feedback to the control system. When lock is lost, the feedback triggers automatic switching to alternative positioning methods and initiates autonomous efforts to restore APD lock, creating a closed-loop system that maintains precision without operator involvement.
4Manufacturing precision
If the robot reduces speed to maintain positioning accuracy when APD lock is lost, then the manufacturing precision is improved, but the productivity deteriorates
Solution Approach 1:
The robot dynamically adjusts operational parameters including speed based on positioning system availability. When APD lock is lost and relative positioning is used, the system may reduce speed to maintain adequate positioning accuracy for printing, but this is a temporary adjustment only during shadowed region traversal, minimizing overall productivity impact.
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
Enhances construction robot's ability to maintain printing accuracy and reduce downtime by autonomously managing sensor lock re-establishment, improving productivity and reducing operator intervention.
Implementation Method 1
The mobile robot has a retroreflective device mounted on a surface of the mobile robot. The mobile robot receives position measurements from an external Absolute Positioning Device (APD) that uses the retroreflective device to determine the position of the mobile robot.
Data Source
AI summary
A mobile printing robot system for printing a construction layout. The method addresses a problem that occurs when there is a loss of a tracking lock to an absolute positioning device, such as a total station. In a construction site, a line of sight between a mobile robot and an absolute positioning device may be lost when the mobile robot moves into a shadowed region behind an obstacle, such as a column. The mobile printing robot may use its local sensor data to continue to print until a maximum estimated position is reached. The mobile robot may also provide position updates to the absolute positioning device to aid it to regain a track lock when the mobile robot emerged from the shadowed region.