Robot Tool Angle Control for Branch Pipe Entry
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Solution Overview
Problem
Existing systems lack the ability to accurately and efficiently perform operations within enclosed or dangerous spaces, such as cutting water or sewer pipes, due to reliance on manual observation and lack of automated detection methods that can correlate disjointed data sets.
Innovation Solution
A robotic system equipped with multiple sensors, including visual cameras, infrared cameras, LIDAR, and IMUs, that uses sensor fusion and AI models to create digital maps and control tools for operations within these spaces, allowing for precise navigation and execution of tasks like cutting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot is used to perform operations in a branch conduit, then operational efficiency and safety are improved, but the complexity of controlling the robot to avoid contact with branch conduit walls increases
Solution Approach 1:
The system creates a digital map of the main pipe and branch conduits before the robot performs operations. This preliminary mapping action provides advance information about the environment, allowing the robot to navigate and operate without real-time complex calculations, thus improving operational efficiency while managing control complexity
Solution Approach 2:
The system uses sensor feedback from the robot's position, orientation, and surrounding environment to continuously update and refine navigation and operation control. This feedback mechanism enables the robot to adapt to the actual environment while maintaining simple control algorithms, resolving the contradiction between operational efficiency and control complexity
2Device complexity
If manual observation is used to detect features and defects, then system complexity is reduced, but measurement precision and reliability deteriorate
Solution Approach 1:
The system replaces manual observation with automated sensor systems including cameras, LIDAR, and other detection devices. These sensors automatically capture and analyze features and defects, providing high measurement precision while maintaining relatively simple system architecture through automated processing algorithms
Solution Approach 2:
The system uses self-contained sensors and processing capabilities on the robot itself to detect and analyze features and defects. This self-service approach eliminates the need for complex external observation systems while achieving high detection accuracy through integrated sensor data processing
3Device complexity
If disjointed data sets from different sensors are used, then device complexity is reduced, but measurement precision and reliability deteriorate
Solution Approach 1:
The system merges data from multiple sensors including cameras, LIDAR, and other detection devices into a unified digital map and coordinated measurement framework. This merging process integrates disjointed data sets while maintaining simple sensor architecture, achieving high measurement precision through data fusion algorithms that correlate information from all sensors
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
Enables accurate and efficient operations within enclosed spaces by providing high-precision digital maps and real-time sensor feedback, reducing the risk of errors and improving operational efficiency across multiple industries.
Implementation Method 1
LIDAR
Implementation Method 2
LIDAR sensors... to create digital maps
Implementation Method 3
Other systems utilize infrared cameras to detect temperature variations within the scanned environment
Implementation Method 4
Some existing mapping systems utilize a visual camera which rely on manual observation to detect features
Data Source
AI summary
A robot and method of controlling a tool carried by a robot in a main pipe where the tool is operable to extend into a branch conduit extending from the main pipe. The robot can be moved to a location in the main pipe corresponding to a branch conduit opening location where the branch conduit opens into the main pipe by referencing a digital map of the main pipe. The tool can be extended from the robot toward the branch conduit opening at an angle corresponding to an angle the branch conduit makes with the main pipe so as to reduce the likelihood of contact of the tool with a wall of the branch conduit.