Robotic Hydrodemolition Path Planning for Complex Concrete Surfaces
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Solution Overview
Problem
Current autonomous robots for concrete removal in unstructured environments face limitations in perceiving their environment, planning paths, adapting to complex surfaces, and requiring manual intervention, leading to inefficiencies and safety risks.
Innovation Solution
A robotic system equipped with sensors and a high-pressure water nozzle that autonomously determines and removes concrete surfaces by calculating optimized paths, maintaining consistent nozzle-to-surface distance, and adjusting pressure, enabling precise and efficient concrete removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If teleoperation and semi-automated processing capabilities are used, then basic concrete removal functionality is achieved, but the system requires manual intervention and cannot effectively handle complex surfaces
Solution Approach 1:
The robotic system performs autonomous navigation, environment perception, and concrete removal without continuous human intervention. The robot independently plans paths, identifies concrete surfaces, and executes removal tasks, enabling full automation while maintaining the ability to adapt to complex geometries through onboard sensors and AI processing
Solution Approach 2:
The system transitions from 2D planar concrete removal to 3D complex surface processing by incorporating six degrees of freedom, spatial navigation capabilities, and multi-axis robotic arms that can reach and process concrete on columns, corners, and irregular surfaces
2Ease of operation
If tracked vehicles with manual steering are used, then simple planar surface processing is achieved, but the system lacks flexibility and requires worker intervention
Solution Approach 1:
The system replaces manual mechanical steering with autonomous navigation using sensors, processors, and control algorithms. The robotic platform uses automated path planning and execution systems that substitute human operators with intelligent machines capable of independent decision-making and adaptive navigation
Solution Approach 2:
The robotic system integrates multiple functions including autonomous navigation, environment perception, path planning, and concrete removal into a single platform. This multi-functional design eliminates the need for separate manual operations while handling diverse concrete removal scenarios
3Adaptability or versatility
If systems with six degrees of freedom are used, then flexibility and maneuverability are improved, but the system complexity and control difficulty increase
Solution Approach 1:
The system introduces an intelligent control system as an intermediary between the complex six-degree-of-freedom mechanical structure and the user. This control layer processes sensor data, plans paths, and coordinates all six degrees of freedom automatically, simplifying the user interface while managing the underlying complexity through automated algorithms
4Power
If large-sized machines are used, then processing power is sufficient, but the machines cannot fit into tight spaces
Solution Approach 1:
The system divides the concrete removal function into modular components including a compact mobile platform, articulated robotic arms, and interchangeable end-effectors. This segmentation allows the robot to maintain sufficient processing power through high-density components while reducing overall size to navigate tight construction spaces
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
The system enhances efficiency, reduces labor costs, minimizes waste, and ensures precise removal depth, adapting to complex environments while reducing the need for manual intervention and improving safety.
Implementation Method 1
A robotic system equipped with sensors and a high-pressure water nozzle that autonomously determines and removes concrete surfaces
Data Source
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AI summary
Disclosed is a computer-implemented method for concrete removal using a robotic system (102) equipped with a high-pressure water nozzle (110). The method comprises receiving, via a sensor system (120), first image data including an area of interest in the vicinity of the robotic system (102), determining, based on the first image data, a concrete surface to be removed within the area of interest, defining (208) a coverage path for the high-pressure water nozzle (110) to traverse the concrete surface to be removed, wherein said defining includes determining waypoints and/or corresponding nozzle orientations to achieve an optimized path that covers the concrete surface to be removed, and causing executing (214) the concrete removal by the robotic system (102) along the coverage path, wherein real-time distance sensing is utilized to essentially maintain a predefined nozzle-to-surface distance, preferably in order to achieve a predetermined removal depth.