Construction Robot End Effector Path Control Around Site Obstacles
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Solution Overview
Problem
Construction robots face challenges in safely moving their end effectors from an initial position to a working position on construction sites due to obstacles, which often require complex movement paths that are difficult to plan and execute, especially when obstacles are uneven or protrude from surfaces like ceilings and walls.
Innovation Solution
A method for controlling construction robots that involves identifying obstacles through examination of the work area or BIM data, and using predefined movement schemes such as U-shaped or side-changing movements to circumvent these obstacles, optimizing the path to ensure collision avoidance and efficient access to working positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a straight-line movement path is used from initial position to working position, then the movement is simple and fast, but collision with obstacles occurs
Solution Approach 1:
The patent applies dimensionality change by transitioning from a 2D plane movement to a 3D spatial movement. When an obstacle is detected in the straight-line path, the controller generates a bypass path that moves the end effector in the vertical dimension (upward or downward) to clear the obstacle, then continues to the working position. This three-dimensional movement approach resolves the contradiction by maintaining speed while avoiding collisions through spatial adaptation.
2Reliability
If complex movement paths are planned to bypass obstacles, then collision avoidance is achieved, but planning effort and computing time increase
Solution Approach 1:
The patent implements preliminary action by pre-defining multiple movement patterns (first, second, third, and fourth movement patterns) that can be directly applied when obstacles are detected. Instead of performing complex real-time path planning, the controller identifies the obstacle type and situation, then selects and executes the appropriate pre-planned movement pattern. This approach significantly reduces computing time while maintaining reliable collision avoidance.
Solution Approach 2:
The patent applies parameter changes by modifying movement parameters (direction, velocity, position) based on the detected obstacle characteristics. The controller adjusts these parameters dynamically by selecting from predefined movement patterns, each with specific parameter configurations suited for different obstacle scenarios. This allows rapid adaptation without extensive recalculation.
3Ease of operation
If the end effector moves close to obstacles to reach working positions, then the working position is accessible, but collision risk increases
Solution Approach 1:
The patent uses dimensionality change to resolve the accessibility-collision risk contradiction. By utilizing the vertical dimension for bypass movements, the end effector can approach working positions that would otherwise be blocked by obstacles. The predefined movement patterns ensure that the end effector maintains safe vertical clearance from obstacles while still achieving access to difficult-to-reach working positions, thus eliminating collision risk while improving accessibility.
Data Source
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AI summary
The invention relates to a method for controlling a construction robot (10) comprising a manipulator (12) and wherein the manipulator (12) comprises an end effector (14). The method provides that the end effector (14) is moved from an initial position (48) to a working position (50, 64), an obstacle (52, 72) is identified, and the identified obstacle (52, 72) is bypassed. The invention further relates to a construction robot (10).