Autonomous Robotic Arm Pose Control for Non-Uniform Terrain Installation
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Solution Overview
Problem
Existing technologies face challenges in autonomously installing objects across non-uniform outdoor terrains, particularly in accurately positioning and securely fastening objects like solar panels on structures while navigating uneven and dynamic environments.
Innovation Solution
A system and method utilizing an autonomous off-road vehicle equipped with a robotic arm and forks, which autonomously loads containers with objects and navigates to install locations, using optical sensors and computer vision to detect install features, calculate precise install poses, and navigate the robotic arm to securely position and fasten objects, while maintaining a keep-in boundary to prevent collisions and movement due to wind loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional manual installation methods are used, then installation flexibility and adaptability to complex terrains are maintained, but installation efficiency and precision are significantly reduced
Solution Approach 1:
The autonomous off-road vehicle integrates multiple functions including navigation, object manipulation via robotic arm, and precise positioning capabilities into a single platform, enabling it to perform various installation tasks across different terrains while improving overall installation efficiency
Solution Approach 2:
The system replaces manual mechanical installation operations with an autonomous robotic system that uses optical sensors, computer vision, and automated control algorithms to detect install features, calculate poses, and execute precise positioning and fastening operations
2Manufacturing precision
If autonomous robotic systems are deployed, then installation precision and consistency are improved, but difficulty in navigating non-uniform terrains and adapting to dynamic conditions increases
Solution Approach 1:
The autonomous vehicle employs dynamic navigation capabilities that allow it to adapt to non-uniform outdoor terrains in real-time, adjusting its movement and positioning strategies based on terrain variations and environmental conditions while maintaining installation precision
Solution Approach 2:
The system uses optical sensors and computer vision to continuously detect install features and monitor the installation process, providing real-time feedback that enables the robotic arm to adjust its actions and maintain precise positioning despite terrain variations and dynamic conditions
3Measurement precision
If precise positioning is achieved through computer vision and optical sensors, then installation accuracy is improved, but system complexity and computational requirements increase
Solution Approach 1:
The system introduces optical sensors and computer vision algorithms as intermediaries between the robotic system and the physical installation environment, enabling precise detection of install features and calculation of install poses without requiring direct complex mechanical measurements
4Productivity
If automated fastening mechanisms are used, then installation speed is improved, but ability to handle wind loads and maintain object stability during installation decreases
Solution Approach 1:
The system applies preliminary counteracting forces through the robotic arm's controlled manipulation to offset wind loads and other external disturbances before they can significantly affect object stability, allowing automated fastening to proceed while maintaining reliability
Data Source
AI summary
A method including, at an autonomous vehicle: autonomously navigating across an outdoor terrain to locate a robotic arm and a set of objects proximal an install location; accessing an image from an optical sensor; detecting a set of install features at the install location based on the image; calculating a gross install pose of the object that locates an object proximal the install location and offset from the set of install features; defining a keep-in boundary proximal the install location and encompassing the gross install pose; autonomously navigating the robotic arm to retrieve the object from the set of objects and to locate the object in the gross install pose; detecting a series of forces applied to a distal end of the robotic arm; and navigating the object in directions of the series of forces while maintaining the object fully within the keep-in boundary.