Position Tracking System for Precise Robot Orientation
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Summary
Problems
Current laser tracking systems for robots face challenges in accurately tracking the position and orientation of robot components in real-time, especially at longer distances, due to line-of-sight issues and high positional errors, which result in vibrations and reduced accuracy for fine positioning tasks.
Innovation solutions
A tracking system with multiple tracking heads and targets, where each tracking head has a radiation source, sensor, and actuator, and targets with reflectors, allows for continuous tracking and accurate determination of position and orientation by using signals from base sensors and angle sensors, transforming data into a common coordinate system, and maintaining line of sight through adjustable mounts.
TRIZ Analysis
Specific contradictions:
General conflict description:
Principle concept:
If a single tracking head is used to measure position and orientation, then the device complexity is reduced, but the measurement precision deteriorates due to inability to calculate orientation mathematically
Why choose this principle:
The system divides the measurement function into two separate components: position measurement (performed by the tracking head using laser time-of-flight) and orientation measurement (performed by calculating the relative positions of multiple targets). This segmentation allows each component to be optimized independently, achieving high precision without excessive complexity.
Principle concept:
If a single tracking head is used to measure position and orientation, then the device complexity is reduced, but the measurement precision deteriorates due to inability to calculate orientation mathematically
Why choose this principle:
The system replaces the mechanical orientation sensing mechanism (physical orientation sensors on the tracking head) with a mathematical calculation approach. By measuring the positions of multiple targets and computing their relative geometry, the system derives orientation information without requiring the tracking head to physically sense orientation, thereby improving precision while maintaining manageable complexity.
Application Domain
Data Source
AI summary:
A tracking system with multiple tracking heads and targets, where each tracking head has a radiation source, sensor, and actuator, and targets with reflectors, allows for continuous tracking and accurate determination of position and orientation by using signals from base sensors and angle sensors, transforming data into a common coordinate system, and maintaining line of sight through adjustable mounts.
Abstract
The present disclosure relates to a tracking system for tracking a position and orientation of an object, the tracking system including: a tracking base provided in an environment, the tracking base including: a tracking head support; and, at least three tracking heads mounted to the tracking head support, a target system including at least three targets mounted to the object, each target including a reflector that reflects a radiation beam to the base sensor of a respective tracking head; and, a control system that: causes each tracking head to track a respective target as it moves throughout the environment; determines a position of each target with respect to a respective tracking head; determines an orientation of the target system using at least in part the determined position of each target; and, determines the position and orientation of the object using at least in part the position and orientation of the target system.