Robotic Bracket Positioning via Total Station Tracking
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Solution Overview
Problem
Current methods for positioning and anchoring metal brackets in building facades are inefficient, prone to human error, and risky due to the need for precise placement in challenging environments, with existing robotic systems being complex and lacking precision, especially when dealing with cast-in channels.
Innovation Solution
A system comprising a mobile manipulator with an arm and end-effector, coupled with a remote robotic total station for precise tracking, utilizing Building Information Modeling (BIM) to guide the placement and anchoring of mounting brackets into cast-in channels, incorporating modules for vision, grasping, anti-slippage, and fastening.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If human operators manually position and anchor metal brackets, then flexibility and adaptability are maintained, but positioning precision and operator safety deteriorate due to risky work environments and repetitive tasks
Solution Approach 1:
The system enables autonomous self-positioning through the robotic manipulator that automatically locates cast-in channels, positions brackets, and performs anchoring operations without human intervention, eliminating the need for skilled operators to work in risky environments while maintaining precision through automated control and BIM guidance
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated robotic system that uses a robotic manipulator equipped with sensors and actuators to perform bracket placement, substituting human physical operations with automated mechanical systems that achieve higher precision and consistency
2Reliability
If robotic systems are used for bracket installation, then operator safety is improved, but system complexity increases due to multiple tools and limited positioning precision
Solution Approach 1:
The robotic manipulator is designed as a universal platform that integrates multiple functions including navigation to cast-in channels, bracket positioning, grasping, and anchoring operations into a single system, eliminating the need for multiple separate tools while reducing overall system complexity
Solution Approach 2:
The patent combines previously separate operations (positioning, grasping, anchoring) into an integrated robotic system that performs all tasks through a unified manipulator controlled by a centralized system using BIM data, reducing the number of components and simplifying the overall architecture
3Productivity
If traditional measuring and fastening tools are used, then system simplicity is maintained, but positioning precision and installation efficiency deteriorate
Solution Approach 1:
The system incorporates real-time feedback through sensors on the robotic manipulator that continuously monitor bracket position and alignment, comparing actual placement against BIM model specifications and automatically adjusting to achieve precise positioning while maintaining high installation efficiency
Solution Approach 2:
The system performs preliminary actions by pre-loading bracket positions and anchoring parameters from BIM models before physical installation, allowing the robotic manipulator to execute precise placement operations without manual measurement during the actual installation process
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
This solution enhances precision, reduces installation time, automates the process, and alerts for discrepancies between BIM and the real environment, thereby improving safety and accuracy while reducing human error and complexity.
Implementation Method 1
a robotic total station placed remotely and separated from the mobile manipulator for tracking and guiding the movements of said mobile manipulator. In particular, the end-effector comprises an optical element, preferably an optical prism, coupled with the robotic total station for continuously tracking the position of the end-effector
Data Source
Figure 1A~1C
Figure 2
Figure 3A~3B
AI summary
System (1) for positioning and anchoring an object (2), preferably a general-purpose mounting bracket, into an opening (3), preferably a cast-in channel, of a floor (4), the system (1) comprising a mobile manipulator (5) having at least an arm (6), the mobile manipulator (5) being movable on said floor (4); at least an end-effector (7) connected to the arm (6) of the mobile manipulator (5) for directly acting on the object; and a robotic total station (8) placed remotely and separated from the mobile manipulator (5) for tracking and guiding the movements of said mobile manipulator (5), wherein the end-effector (7) comprises an optical element (9), preferably an optical prism, coupled with the robotic total station (8) for continuously tracking the position of the end-effector (7).