Robot Spatial Map Updating for Autonomous Structure Inspection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing inspection devices require highly accurate pre-measured three-dimensional maps to monitor structures, which is time-consuming and inefficient, especially when moving automatically without prior spatial information.
Innovation Solution
A robot device that updates spatial information in real-time using onboard sensors, allowing for controlled movement based on optimum spatial information without the need for pre-measured maps, using a combination of imaging units and drive units to avoid collisions and acquire inspection data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If highly accurate pre-measured three-dimensional maps are used for structure monitoring, then measurement precision is improved, but loss of time increases due to time-consuming pre-measurement preparation
Solution Approach 1:
The system performs preliminary actions by pre-measuring and storing three-dimensional spatial information about the structure in advance. This pre-acquired spatial information is then reused during robot navigation and inspection operations, eliminating the need for repeated pre-measurement preparation while maintaining high measurement precision.
Solution Approach 2:
The invention creates a digital copy of the three-dimensional spatial information about the structure. Instead of requiring physical re-measurement, the system uses this digital copy (stored spatial information) for navigation and inspection planning, significantly reducing preparation time while preserving measurement accuracy.
2Reliability
If pre-measured three-dimensional maps are required for robot navigation, then reliability of navigation is improved, but device complexity increases due to need for map preparation systems
Solution Approach 1:
The system performs the complex task of three-dimensional spatial information acquisition in advance, storing it for later use. This preliminary action separates the complex measurement process from the navigation operation, making the navigation system itself simpler while maintaining high reliability through pre-validated spatial data.
Solution Approach 2:
The robot device uses the pre-stored spatial information to navigate and inspect structures autonomously without requiring external map preparation systems during operation. The system serves itself by utilizing its own stored spatial data, reducing the need for complex external infrastructure.
3Adaptability or versatility
If real-time spatial information updating is implemented, then adaptability is improved for unknown areas, but use of energy increases due to continuous sensing and processing
Solution Approach 1:
The system updates spatial information partially and selectively rather than continuously updating all areas. It focuses sensing and processing only on relevant regions or when specifically needed, reducing energy consumption while maintaining the ability to adapt to unknown areas when necessary.
Solution Approach 2:
The robot uses feedback from its sensing units to determine when and where spatial information updates are needed. By monitoring its environment and navigation status, the system intelligently activates sensing and processing only when necessary, optimizing energy usage while maintaining adaptability.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
There are provided a robot device of which movement can be always controlled on the basis of optimum spatial information about a peripheral area without the need to prepare highly accurate spatial information about an area associated with a structure in advance and a method of controlling the movement of the robot device. The robot device includes a spatial information recording unit where first spatial information about an area in which the movement of a robot device to be self-propelled with respect to a structure is supposed and which is associated with the structure is recorded, a spatial information acquisition section that is mounted on the robot device and acquires second spatial information about a peripheral area of the robot device with the movement of the robot device, and a spatial information updating unit that updates the first spatial information recorded in the spatial information recording unit with the second spatial information acquired by the spatial information acquisition section. The first spatial information recorded in the spatial information recording unit is used in a case in which the robot device is moved with respect to the structure.