Robotic Sensor Localization via Inertial and Visual Mapping
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic sensor systems lack the ability to precisely determine their location relative to structures during inspection, making it difficult to pinpoint areas needing maintenance, especially in inaccessible environments.
Innovation Solution
A robotic sensor system equipped with a localization sensor suite, including an inertial measurement unit and image capture systems, generates a map of the structure by capturing translational and rotational degrees of freedom, allowing for accurate positioning and feature recognition, enabling precise data localization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robotic conveyance system is used to inspect structures in inaccessible environments, then the ability to reach difficult locations is improved, but the precision of location data relative to the structure deteriorates
Solution Approach 1:
The patent introduces an intermediary coordinate transformation system that bridges the robotic system's local coordinate frame and the structure's global coordinate frame. This intermediary layer enables precise location mapping by transforming sensor data and robot pose information between different reference frames, resolving the location precision issue while maintaining access to inaccessible structures
Solution Approach 2:
The robotic system integrates multiple functions including inspection sensing, localization, mapping, and coordinate transformation capabilities into a single platform. This multi-functional approach allows the system to both reach inaccessible locations and maintain precise location awareness through integrated sensors and processing algorithms
2Productivity
If sensor data is collected during robot movement, then inspection coverage is improved, but the ability to pinpoint specific locations for maintenance deteriorates
Solution Approach 1:
The system employs feedback mechanisms where the robot continuously monitors its own pose and position during movement, and this information is fed back into the coordinate transformation and mapping algorithms. This real-time feedback enables accurate association of inspection data with specific structural locations even while the robot is in motion
Solution Approach 2:
The patent implements preliminary mapping and coordinate system establishment before detailed inspection begins. By pre-establishing the relationship between the robotic coordinate frame and structure coordinate frame, the system prepares the spatial reference framework needed to accurately locate inspection data collected during subsequent movement
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
Enables accurate mapping and localization of sensor data, facilitating targeted maintenance by correlating structural features and parameters, improving the precision of maintenance reporting and execution.
Implementation Method 1
A localization sensor suite includes an inertial measurement unit and is configured to capture data associated with translational degrees of freedom and a rotational degree of freedom of the robot
Implementation Method 2
The at least one image capture system is operable to acquire a plurality of images of the structure
Data Source
AI summary
A sensor system for measuring and locating parameters of a structure includes a robot configured to move between a first position and a second position along the structure. An inspection sensor is coupled to the robot and configured to measure a parameter associated with the structure. A localization sensor suite includes an inertial measurement unit and is configured to capture data associated with translational degrees of freedom and a rotational degree of freedom of the robot determined by the structure and an image capture system mounted to the robot. The image capture system acquires images of the structure. One or more processors is operatively connected to the localization sensor suite. The one or more processors is responsive to non-transitory executable computer instructions for generating a map of the route including features of the structure, the measured parameters, and a position of the robot relative to the structure.