3D Robotic Concrete Printer Collision Prediction Control
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Solution Overview
Problem
Existing 3D concrete printing systems lack effective collision detection methods, particularly in dynamic environments, leading to potential damage from worker interference and unforeseen obstacles, and inadequate handling of post-processing scenarios.
Innovation Solution
A model-based collision prediction system that generates and updates a 3D collision model in real-time to guide the 3D robotic concrete printer, integrating sensor data and predefined models to prevent collisions by simulating tool movements and adjusting commands accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a model-based collision prediction system is implemented, then collision detection accuracy is improved, but device complexity increases
Solution Approach 1:
The system generates a 3D collision model in advance that represents the printed structure and potential obstacles. This model is updated progressively as printing occurs, allowing collision prediction before actual movements execute, thereby improving detection accuracy without requiring complex real-time sensing during operation
Solution Approach 2:
Instead of using complex physical sensors to detect collisions in real-time, the system creates a digital 3D collision model that replicates the physical printing environment. This virtual model allows collision detection through computational analysis rather than complex physical detection mechanisms
2Reliability
If real-time 3D collision model updating is performed, then collision avoidance capability is improved, but processing time increases
Solution Approach 1:
The 3D collision model is updated continuously and progressively as the printing process advances, rather than being regenerated from scratch at each step. This incremental updating maintains collision avoidance capability while significantly reducing processing time compared to full re-modeling approaches
3Ease of operation
If manual control is allowed for maintenance operations, then operational flexibility is improved, but risk of accidental collision increases
Solution Approach 1:
The system provides continuous feedback to the operator through the 3D collision model, showing in real-time which areas are occupied by printed structures and which movements are safe. This feedback mechanism allows manual control flexibility while preventing accidental collisions by making the risk visible and actionable
Data Source
AI summary
The present invention concerns a system and a method for collision avoidance of a 3D robotic concrete printer, whereby the method comprises the steps of performing an application and/or manipulation process by executing instructions, such as based on G-Code, with a 3D robotic concrete printer by moving a tool in a path for applying and/or manipulating concrete material; and moving the tool in response to commands to a motion planner, said movement being assisted by a model-based collision prediction system, whereby the model-based collision-prediction system involves the steps of inferring and generating 3D geometries of concrete structures from applying and/or manipulating concrete structures by commanding the 3D robotic concrete printer, using the 3D geometries as a 3D collision model, which allow at any point in time to check if parts of the 3D robotic concrete printer would yield a collision when performing said movement; whereby the 3D collision model of the concrete structure is developed in parallel to the application and/or manipulation process and is updated in correspondence to the progress of the execution of the process instructions.