Retroreflector Tracking for High-Accuracy Construction Printing Robots
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Solution Overview
Problem
Mobile robots used for construction printing lack precision in determining their position, which is crucial for accurate marking on construction surfaces, as existing localization methods using LIDAR provide only centimeter-level accuracy, falling short of the required 1/16 inch precision needed for construction layouts.
Innovation Solution
A mobile robot equipped with a retroreflective device that receives position measurements from an absolute positioning device, with the robot dynamically controlling the rotation of the retroreflective device to maintain alignment with the absolute positioning device over a 360-degree azimuthal heading, and correcting position data for errors caused by the retroreflective device's optical properties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LIDAR sensor readings are used for robot localization, then the robot can determine its position, but the positioning accuracy is limited to centimeter level which is insufficient for construction layout requirements
Solution Approach 1:
The patent introduces a retroreflective device as an intermediary element that the robot carries and an absolute positioning device (APD) uses to measure the robot's position. This intermediary enables the APD to directly measure robot position with high precision (1-2mm) by reflecting laser beams, bypassing the need for LIDAR-based localization and achieving the required construction layout accuracy.
2Measurement precision
If a retroreflective device is mounted on the mobile robot for absolute positioning, then position accuracy improves to 1-2 mm, but the device complexity increases due to the need for rotation control and error correction
Solution Approach 1:
The patent implements dynamic control of the retroreflective device's rotation angle, adjusting it in real-time based on the robot's azimuthal heading to maintain alignment with the absolute positioning device. This dynamic adjustment ensures the retroreflective device remains within the acceptance angle of the APD throughout the 360-degree variation in robot orientation, maintaining measurement accuracy while managing system complexity through adaptive control.
Solution Approach 2:
The patent employs feedback mechanisms where the robot's controller receives position measurements from the absolute positioning device and uses this information to adjust the retroreflective device's rotation angle. The system continuously monitors and corrects the rotation angle to maintain optimal alignment, ensuring accurate position measurements while compensating for any deviations in robot orientation.
3Reliability
If the retroreflective device rotation angle is controlled to face the absolute positioning device over 360 degree azimuthal variation, then position measurement reliability improves, but the control complexity and operational difficulty increase
Solution Approach 1:
The patent implements a self-service mechanism where the robot's own controller automatically manages the retroreflective device's rotation angle based on its detected azimuthal heading. The system uses the robot's motion information to autonomously adjust the retroreflective device orientation, eliminating the need for external manual intervention and simplifying operation while maintaining measurement reliability throughout the full 360-degree range of motion.
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
This solution enhances the position accuracy of the mobile robot to achieve precise printing on construction surfaces, ensuring accurate layout markings and reducing costly rework or code violations by maintaining position accuracy within 1 to 2 mm, even when the robot moves around the construction site.
Implementation Method 1
The mobile robot has a retroreflective device mounted on a surface of the mobile robot. It receives position measurements from the absolute positioning device that uses the retroreflective device to determine the position of the mobile robot.
Data Source
AI summary
A system and method for improving a position accuracy of a mobile robot is disclosed. A retroreflective device is mounted to the mobile robot and used by an absolute positioning device to use a laser beam to track a position of the mobile robot. The mobile robot receives position measurements. Various optimizations may be performed to support operating the mobile robot over a 360 degree range of azimuthal headings.