Robotic Total Station Orientation via Movable Target Vector
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Solution Overview
Problem
Existing methods for determining the orientation of a robotic machine at a worksite, especially in building interior construction, are inefficient and prone to errors due to the difficulty in accurately determining the machine's heading, which is crucial for precise placement and line drawing tasks.
Innovation Solution
A method involving a robotic total station that uses a target on the machine to determine its orientation by measuring the locations of two known positions on the machine, with the target being moved between these positions to establish a vector indicating the machine's orientation, allowing for accurate positioning and movement even when the machine is stationary or moving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single target is used on the robotic machine, then the device complexity is reduced, but the ability to determine orientation is insufficient
Solution Approach 1:
The patent applies the dynamics principle by making the target movable relative to the machine body. The target can be positioned at different locations (first position and second position) on the machine, allowing the system to determine orientation through the change in target position rather than using multiple fixed targets. This dynamic repositioning enables orientation calculation with a single target, resolving the contradiction between device simplicity and measurement capability.
2Ease of operation
If the machine is stationary during measurement, then the measurement process is simplified, but the productivity is reduced due to time required for orientation determination
Solution Approach 1:
The patent applies preliminary action by pre-establishing the known positional relationship between the first and second target positions on the machine. The vector representing the distance and orientation between these positions is predetermined. This allows the system to quickly calculate machine orientation from just two location measurements without requiring complex real-time computations, thus simplifying the measurement process while maintaining productivity.
3Measurement precision
If multiple targets are used to determine orientation, then the orientation accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the orientation determination process into two sequential location measurements rather than using multiple simultaneous targets. The single target is measured at two different positions, and the orientation is derived from the vector between these two locations. This segmented approach achieves the same information as multiple targets would provide, but with simpler equipment.
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 method enhances the accuracy and efficiency of robotic machine orientation determination, reducing errors and improving the automation of layout processes by providing precise heading information for construction tasks, even in dynamic environments.
Implementation Method 1
determining the location of the first position in the worksite, with the robotic total station directing a beam of laser light at the target when the target is in the first position
Implementation Method 2
The total station directs a beam of laser light to construction points, illuminating floors, ceilings or walls at the construction points
Data Source
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AI summary
A method of determining the orientation of a robotic machine at a worksite contemplates providing a target on the machine, moving the target to a first position on said machine, determining the location of the first position in the worksite, moving the target to a second position on said machine, and determining location of the second position in the worksite. The first and second positions are known with respect to the machine. Finally, a vector between the first and second locations defines the orientation of the machine with respect to the worksite. The target may be moved to additional positions on the machine.