Robotic Arm Penetrative Imaging Vertical Surface Inspection
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Solution Overview
Problem
Current methods for inspecting substantially vertical surfaces of structures, such as buildings, are hazardous for human operators, limited in capability, and inefficient, as they struggle with complex surfaces and adverse weather conditions.
Innovation Solution
A robotic system with a frame body parallel to the surface, a vertically movable robotic arm, and a penetrative imaging portion that can rotate independently to maintain proximity to the surface, allowing for flexible angles and orientations, and is equipped with buffer mechanisms for stability and weather resistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If human operators use harnesses or movable scaffolds to manually inspect vertical surfaces, then inspection can be performed, but the risk of injury and human error increases substantially
Solution Approach 1:
The patent replaces human operators with a robotic system that copies the inspection function. The robotic arm with penetrative imaging device replicates the manual inspection process without the associated safety risks, eliminating the need for human workers to physically access dangerous vertical surfaces.
Solution Approach 2:
The patent substitutes the mechanical human operator system with an automated robotic system. The robotic arm, driven by motors and controlled through electronic systems, replaces the mechanical harness and scaffold system, providing a safer alternative that eliminates human exposure to injury risks.
2Adaptability or versatility
If simple devices are refitted to standard surface maintenance platforms, then inspection tasks can be performed, but the system cannot handle complex building surfaces or approach from various angles
Solution Approach 1:
The patent employs a robotic arm with multiple degrees of freedom that can dynamically adjust its position and orientation. The arm can extend, retract, and rotate to approach the building surface from various angles, adapting to complex geometries such as angled recesses and ledges that static platforms cannot handle.
Solution Approach 2:
The patent adds angular dimensionality to the inspection system. Instead of being constrained to a single approach angle, the robotic arm can operate from multiple angles (e.g., 90 degrees above or below horizontal axis), enabling the system to access and image complex building surfaces that require multi-angle approaches.
3Adaptability or versatility
If drones are used to access hard to reach areas, then coverage can be improved, but load bearing capacity and resilience to external factors are limited
Solution Approach 1:
The patent employs cable suspension to counterbalance the weight of the robotic system. The frame body is suspended from above by cables, providing stable support that allows the robotic arm to operate without being constrained by weight limitations. This counterweights the system against gravity, enabling reliable operation in adverse weather conditions.
Solution Approach 2:
The patent introduces a cable suspension system as an intermediary between the robotic arm and the building structure. This intermediary provides stable mechanical support and positioning, allowing the robotic system to maintain its position and operate reliably in hard-to-reach areas without being vulnerable to wind and weather disturbances that affect drones.
4Area of stationary object
If the robotic arm rotates to vertically move the penetrative imaging portion, then coverage of vertical surfaces is improved, but maintaining parallel orientation to the surface becomes challenging
Solution Approach 1:
The patent employs feedback control to maintain the penetrative imaging portion parallel to the building surface during robotic arm rotation. Sensors detect the orientation and position of the imaging device, and the control system adjusts the device's orientation in real-time to compensate for the arm's movement, ensuring consistent parallel alignment throughout the scanning process.
Solution Approach 2:
The penetrative imaging portion is designed with independent rotational capability that allows it to perform multiple functions: it can rotate to maintain parallel orientation with the surface while the arm moves, and it can also be oriented at various angles for inspecting complex surface features. This multi-functional design resolves the conflict between coverage area and orientation precision.
Data Source
AI summary
A frame body is provided parallel to and proximate with a surface of a structure and extends substantially horizontally from a first side to a second side. A connecting portion is provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm is affixed proximate to a bottom of the frame body and is able to move horizontally during penetrative imaging of the surface. Moreover, the robotic arm extends to an end proximate with the surface, and a penetrative imaging portion is attached to the robotic arm near the end proximate with the surface. The robotic arm rotates, vertically moving the penetrative imaging portion during penetrative imaging of the surface. In addition, the penetrative imaging portion can be separately rotated about three orthogonal axes of rotation (yaw, pitch, roll) to achieve various angles of approach and orientation to the surface.