Construction Robot End-Effector Path Planning Around Obstacles
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Solution Overview
Problem
Construction robots face challenges in safely moving their end effectors from a starting position to a working position on construction sites, particularly when obstacles such as uneven surfaces, structural elements, or other hazards are present, which can lead to collisions if a straight-line movement is attempted.
Innovation Solution
The method involves identifying obstacles in the working area using investigations or analysis of planning data, such as BIM data, and then employing a movement scheme that bypasses these obstacles. This can include U-shaped or substantially U-shaped movements, side-changing movements, and dynamic path planning to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the end effector moves in a straight line from starting position to working position, then the movement time is minimized, but collision with obstacles occurs
Solution Approach 1:
The system performs preliminary identification of obstacles in the working area before executing the movement. By analyzing planning data (such as BIM data) or conducting investigations of the working area in advance, the robot determines potential collision points and pre-calculates bypass paths, allowing it to avoid obstacles while maintaining efficient movement
Solution Approach 2:
The movement scheme is dynamically adjusted based on identified obstacles. Instead of following a fixed straight-line path, the system modifies the trajectory in real-time by implementing bypass maneuvers around detected obstacles, optimizing the path to balance speed and safety
2Reliability
If a bypass movement scheme is implemented to avoid obstacles, then collision avoidance is improved, but the movement path becomes longer and more complex
Solution Approach 1:
The bypass movement is divided into multiple sequential partial movements. Each partial movement addresses a specific obstacle or section of the path, breaking down the complex bypass task into manageable segments that can be executed in sequence, simplifying the overall control process
3Reliability
If custom bypass paths are calculated for each obstacle, then collision avoidance precision is improved, but computational effort and planning time increase
Solution Approach 1:
The system changes the parameters of the movement scheme based on obstacle characteristics. By adjusting movement parameters (such as offset distance, bypass direction, and path curvature) according to the specific nature of each obstacle, the system achieves precise collision avoidance without requiring completely custom paths for every situation
Data Source
AI summary
A method for controlling a construction robot which has a manipulator and wherein the manipulator has an end effector is disclosed, wherein the end effector is moved from a starting position to a working position, wherein an obstacle is identified, and the identified obstacle is bypassed. A construction robot is also disclosed.