Tracking unit for contactless surface tracking

Abstract

The present application relates to a tracking unit for touchless surface tracking. The tracking unit is configured to be connected to a robotic device and to move across a surface of an object. The tracking unit comprises a body, one or more distance sensors mounted to a first side of the body and configured to detect a distance from the object, and one or more peripheral sensors mounted to a second side of the body and configured to detect a peripheral feature. A controller is configured to receive signals from the one or more distance sensors and the one or more peripheral sensors. The controller is configured to position the body at a fixed distance from the object and to prevent contact between the body and the peripheral feature.

Description

Technical Field

[0001] This disclosure generally relates to the field of devices for tracking across objects, and more specifically, to devices configured to detect distances from the surface of an object and to detect peripheral features. Background Technology

[0002] There are various applications in which the device can move on the surface of an object. One example includes a paint head with a paint nozzle that moves across the object as it is being painted. Another example includes sensors that move across an object during inspection, such as to determine wear or damage. The device is spaced apart from the object surface during use, the distance depending on the specific requirements of the operation. Some operations use closer positioning (e.g., 0.25” to 1.0”), while others use larger spacing.

[0003] These operations can include robotic devices that move the device over an object. This contactless movement prevents the device from potentially damaging the object or the device itself. Furthermore, contact between the device and the object may halt operation and require the robotic device to be reset, which can be time-consuming.

[0004] The robotic system is configured to keep sensing devices away from the object during movement. However, the robotic device does not detect peripheral features located near the object. For example, a wall or beam adjacent to the object may not be sensed, and the robotic device may cause a collision with the peripheral feature. This collision may result in damage to one or more of the device, the peripheral feature, and the robotic device. Summary of the Invention

[0005] One aspect relates to a tracking unit configured to connect to a robotic device and move across the surface of an object. The tracking unit includes a body, one or more distance sensors mounted to a first side of the body and configured to detect distances from the object, and one or more peripheral sensors mounted to a second side of the body and configured to detect peripheral features. A controller including processing circuitry is configured to receive signals from one or more distance sensors and one or more peripheral sensors. The controller is configured to position the body at a fixed distance from the object and prevent contact between the body and the peripheral features.

[0006] On the other hand, one or more distance sensors are mounted on the bottom surface of the body, and one or more peripheral sensors are mounted on the lateral side of the body.

[0007] On the other hand, one or more peripheral sensors are spaced apart around the center line of the body.

[0008] On the other hand, an Ethernet connector is operatively connected to the controller, wherein the Ethernet connector is configured to enable a connection between the controller and the robot device controller.

[0009] On the other hand, the controller is configured to maintain the subject at a constant distance from the object based on a first input from one or more distance sensors, and simultaneously space the subject from peripheral features based on a second input from one or more peripheral sensors.

[0010] On the other hand, the mounting on the body is configured to connect to the robotic device, wherein the mounting is positioned on the side of the body opposite to one or more distance sensors.

[0011] On the other hand, the main body includes a main section comprising a centerline and an arm extending outward away from the centerline, wherein one or more distance sensors are mounted on the arm and one or more peripheral sensors are mounted on the main section.

[0012] On the other hand, the first hub connects one or more distance sensors to the controller's processing circuitry, and the second hub connects one or more peripheral sensors to the processing circuitry, and each of the first and second hubs is an I2C hub.

[0013] On the other hand, one or more distance sensors are aligned substantially perpendicular to one or more peripheral sensors.

[0014] One aspect relates to a tracking unit configured to connect to a robotic device and move across the surface of an object. The tracking unit includes: a distance sensor facing a first direction and configured to detect distance from the object; and a peripheral sensor facing a second direction and configured to detect distance from a peripheral feature. A controller includes processing circuitry configured to receive signals from the distance sensor and the peripheral sensor. These signals enable the tracking unit to maintain a distance from the object and move away from the peripheral feature.

[0015] On the other hand, the controller is configured to communicate with the robot controller to control the position of the tracking unit relative to the object based on signals from the distance sensor, and to control the position of the tracking unit relative to the peripheral features based on signals from the peripheral sensor.

[0016] On the other hand, the tracking unit includes a body comprising a centerline, a mounting member aligned along the centerline and configured to be connected to the robotic device, wherein the distance sensor faces a direction substantially perpendicular to the centerline, and the peripheral sensor faces a direction substantially parallel to the centerline.

[0017] On the other hand, the Ethernet connector is configured to connect the controller to the robot device controller.

[0018] On the other hand, the number of peripheral sensors is greater than that of distance sensors.

[0019] On the other hand, the controller is configured to maintain a constant distance between the distance sensor and the object.

[0020] One aspect relates to a method for moving a tracking unit relative to an object using a robotic device. The method includes: moving the tracking unit across the object using the robotic device while maintaining a distance between the tracking unit and the object; detecting peripheral features in the direction of movement of the tracking unit; determining that the peripheral features are less than a predetermined distance from the tracking unit; and stopping the movement of the tracking unit by the robotic device.

[0021] In another aspect, the method further includes: maintaining a fixed distance between the tracking unit and the object while moving the tracking unit across the object.

[0022] In another aspect, the method further includes sending control commands to the robotic device and causing the robotic device to move the tracking unit across the object according to the control commands.

[0023] On the other hand, the method includes using an Ethernet connector to connect the tracking unit to the robot controller of the robotic device.

[0024] On the other hand, the step of stopping the movement of the tracking unit by the robot equipment includes: stopping the movement of the tracking unit in the direction of movement.

[0025] The features, functions, and advantages already discussed can be realized independently in each aspect or combined in other aspects, and further details can be seen in the following description and figures. Attached Figure Description

[0026] Figure 1 It is a schematic side view of a tracking unit positioned above an object and configured to be moved by a robotic device.

[0027] Figure 2A This is an isometric view of the tracking unit.

[0028] Figure 2B yes Figure 2A Side view of the tracking unit.

[0029] Figure 3 This is a schematic diagram of the controller for the tracking unit.

[0030] Figure 4This is a schematic diagram of the distance sensor and peripheral sensors connected to the controller via a hub.

[0031] Figure 5 This is a schematic diagram of a robotic device connected to a tracking unit and configured to move the tracking unit relative to an object.

[0032] Figure 6A It is a schematic side view of the tracking unit positioned relative to the object and relative to the surrounding features.

[0033] Figure 6B It is closer to the peripheral features Figure 6A A schematic side view of the tracking unit.

[0034] Figure 7 This is a flowchart of the method for initializing the tracking unit.

[0035] Figure 8 This is a flowchart of a method that utilizes a robot device to track the movement of an object.

[0036] Figure 9 This is a schematic diagram of the controller for a robot device. Detailed Implementation

[0037] Figure 1 A tracking unit 20 is schematically shown, configured to connect to a robotic device 200 and be moved across an object 100. The tracking unit 20 includes a first sensor array 39 configured to detect the surface 101 of the object 100. The tracking unit 20 also includes a second sensor array 49 configured to detect peripheral features 110. The tracking unit 20 receives signals from the sensor arrays (e.g., the first sensor array 39 and the second sensor array 49) and communicates with the robotic device 200 to maintain the tracking unit 20 spaced apart from the object 100 and the peripheral features 110.

[0038] Object 100 may include various configurations. Examples include, but are not limited to, vehicle components (e.g., aircraft panels, automobile fenders), raw materials (e.g., aluminum sheets), and structural components (e.g., building walls, surfaces of test areas). One or more peripheral features 110 are located near object 100. In some examples, a peripheral feature is a portion of object 100 extending above the surface 101 monitored by the device (such as flanges, ribs, and arms of object 100). In some examples, peripheral feature 110 is a separate object located adjacent to the object, such as a frame or table supporting the object. Other examples of peripheral features 110 include, but are not limited to, objects within the workspace of object 100 (such as other machinery, other robotic devices, and human operators). Peripheral features 110 may be static (non-moving) or dynamic (moving).

[0039] Figure 2A and Figure 2B Tracking unit 20 is shown. Tracking unit 20 includes a body 21 having a mounting member 22 configured to connect to a robotic device 200. In some examples, mounting member 22 is configured to connect to the end of the arm of the robotic device 200, enabling tracking unit 20 to function as an end effector. Body 21 includes a centerline C extending through body 21. In some examples, mounting member 22 is aligned along centerline C.

[0040] exist Figure 2A and Figure 2B In one example, the body 21 includes a main segment 23 and an outwardly extending arm 24. The main segment 23 includes surfaces aligned in a first direction, and the arm 24 includes surfaces aligned in a different direction. In some examples, the surface of the main segment 23 is substantially perpendicular to the surface of the arm 24. Figure 2A and Figure 2B In the example, the surface of the main segment 23 is basically aligned with the center line C.

[0041] The first sensor array 39 includes one or more sensors 30 aligned in a first direction. Figure 2A and Figure 2B In this example, the first sensor 30 is mounted to arm 24 and faces downwards. A first sensor array 39 is configured to detect surface 101 of object 100. This detection is configured to keep the tracking unit 20 spaced apart from surface 101. The number and position of the sensors 30 can vary. In one example, the sensors 30 are evenly spaced along the tracking units on each arm 24 and aligned in the x / y plane.

[0042] The second sensor array 49 includes one or more sensors 40 aligned in the second direction. In some examples, the sensors 40 are mounted to the main section 23 and face outward to detect the peripheral feature 110. The number and position of the sensors 40 can vary. In some examples, the sensors 40 are evenly spaced around the main section 23 and face outward from the centerline C.

[0043] Various types of sensors 30, 40 can be used on the tracking unit 20. One example includes a sensor that uses a magnetic field to sense an object. The sensor includes one or more photoresistors, infrared transceivers, and ultrasonic sensors. Other examples include infrared transceivers that measure and detect infrared radiation. In some examples, the infrared transceiver is an active sensor that emits and detects infrared radiation and includes a light-emitting diode and a receiver. Other infrared sensors are passive and only detect infrared radiation. Other examples include ultrasonic sensors that emit ultrasonic waves and determine distance by detecting reflected signals. In some examples, sensors 30, 40 include one or more cameras that capture images including various still images and video images. The camera may include a single sensor element configured to produce a two-dimensional image, or a sensor element having multiple elements to capture a three-dimensional image. In some examples, sensors 30, 40 utilize LIDAR.

[0044] In some examples, sensor 30 is the same as in other examples that include two or more sensors of different types. Similarly, sensor 40 may be the same as each other, or may include multiple sensors of different types. Sensors 30 and 40 may be the same or different.

[0045] Sensors 30 and 40 sense their surrounding environment at various frequencies. Sensors 30 and 40 provide real-time feedback that enables the tracking unit 20 to move without contacting the object 100 or the peripheral feature 110. In some examples, sensors 30 and 40 monitor their surrounding environment and provide signaling at regular intervals. Sensors 30 and 40 can increase or decrease the frequency of signaling when predetermined events occur, for example, increasing the frequency when sensors 30 and 40 detect that the tracking unit 20 is within a predetermined range of the peripheral feature 110.

[0046] The tracking unit 20 includes a controller 90 to control the movement of the tracking unit 20. In some examples, the controller 90 is mounted inside the body 21 to protect various components. Other examples include the controller 90 being located away from the body 21. Figure 3 A controller 90 is schematically shown, which includes processing circuitry 91 that operates according to program instructions 93 stored in memory circuitry 92. Processing circuitry 91 includes one or more circuits, a microcontroller, a microprocessor, hardware, or a combination thereof. Processing circuitry 91 may include various amounts of computing power to provide the required functionality.

[0047] Memory circuitry 92 includes a non-transitory computer-readable storage medium, such as a computer program product, storing program instructions 93, which configures processing circuitry 91 to implement one or more of the techniques discussed herein. Memory circuitry 92 may include various memory devices, such as, for example, read-only memory and flash memory. Memory circuitry 92 may be as follows: Figure 3 The individual component shown may be combined with the processing circuitry 91. Alternatively, the processing circuitry 91 may omit the memory circuitry 92, for example, according to at least some embodiments in which the processing circuitry 91 is dedicated and non-programmable.

[0048] Communication circuit 94 provides for sending and / or receiving signals from one or more components of the system. Components include, but are not limited to, sensors 30, 40, and robot device 200. Communication circuit 94 can provide unidirectional communication or bidirectional communication to and from components. Communication circuit 94 can also provide communication to and from controller 90 with remote nodes (e.g., operator equipment, server, database). Clock 95 is used for timing the movement of robot 40 and / or tracking unit 20.

[0049] User interface 96 provides a user with one or more aspects of controlling the system during operation. User interface 96 includes one or more input devices 98, such as, but not limited to, keyboards, touchpads, ball bearings, and joysticks. User interface 96 also includes one or more displays 97 for displaying information about the test and / or for the operator to input commands to processing circuitry 91.

[0050] In some examples, tracking unit 20 includes a power source such as one or more batteries to power one or more components. Additionally or alternatively, tracking unit 20 receives power from robotic device 200, for example, via connector 85 and / or a separate connector.

[0051] Figure 4 The diagram illustrates a configuration in which communication circuitry 94 includes a hub 88 for communicating with sensor 30 and a hub 89 for communicating with sensor 40. Hubs 88 and 89 include separate ports for communicating with the respective sensors 30 and 40 on the same bus (e.g., an I2C bus). Hubs 88 and 89 provide data from sensors 30 and 40 to processing circuitry 91. Connector 85 enables connection to robot device 200. In some examples, connector 85 is an Ethernet connector. Robot device 200 includes a controller 210 for controlling the movement of robot device 200. Connector 85 can also provide power from robot device 200 to tracking unit 20 to operate one or more components.

[0052] Figure 5A robotic device 200 configured as a motion tracking unit 20 is shown. The robotic device 200 includes a base 207 supporting one or more links 208. The base 207 may be configured to be positioned in a fixed location, or may include wheels or otherwise be movable relative to object 100. An articulated joint 209 provides relative movement between the links 208 and / or the tracking unit 20. The size, shape, and mobility of the robotic device 200 may vary depending on the type of task being performed. In some examples, the robotic device 200 is capable of movement along one or more of six different axes (i.e., a 6-axis device). In some examples, the robotic device 200 is a collaborative robot (cooperative robot) working alongside or near a human operator in a shared workspace.

[0053] Tracking unit 20 is physically connected to robot device 200 at mounting 22. Connector 85 enables electronic connection of tracking unit 20 at robot device connector 215 to communicate with robot device controller (e.g., controller 210). In some examples, tracking unit 20 controls the operation of robot device 200 via controller 90. In other examples, robot device 200 is controlled by controller 210, which receives data from sensors 30, 40 to determine movement.

[0054] In such Figure 6A and Figure 6B During the operation shown, the tracking unit 20 moves across object 100. (As illustrated...) Figure 6A As shown, one or more sensors 30 are positioned to detect the distance X between the subject 21 and the surface of the object 100. During the movement of the tracking unit 20, indicated by arrow M, signals from the sensors 30 are kept spaced out and prevent contact with the object 100. The distance X may be constant or may vary during movement M. In some examples, the signals from the sensors 30 also enable the tracking unit 20 to maintain an orientation tangential to the surface of the object 100.

[0055] One or more sensors 40 detect the distance to one or more peripheral features 110. This allows the tracking unit 20 to move around the object while maintaining a distance Y from the peripheral features 110. The buffer zone measured by distance Y is a safe zone that prevents the tracking unit 20 from entering within a predetermined distance from the peripheral features 110. When the tracking unit 20 moves within the predetermined distance of the peripheral features 110, such as... Figure 6BAs shown, movement M is prevented in the direction toward the peripheral feature 110. This provides collision avoidance protection to prevent contact between the tracking unit 20 and the peripheral feature 110. In some examples, the robot device 200 completely stops moving the tracking unit 20 when it is within the safe zone. In other examples, the robot device 200 stops moving toward the peripheral feature 110 but allows movement in other directions away from the peripheral feature 110.

[0056] Distances X and Y can be measured from different positions on the tracking unit 20. In some examples, a tool center point TCP is determined for the body 21 of the tracking unit 20. The position of the tracking unit 20 is determined based on the TCP. In other examples, the distance X between the tracking unit 20 and the object 100 is determined from the edge of the body 21 closest to the object 100 and where the sensor 30 is mounted. Similarly, the distance Y between the tracking unit 20 and the peripheral feature 110 is determined from the edge closest to the peripheral feature 110 and where the sensor 40 is mounted.

[0057] Figure 7 The process of initially putting tracking unit 20 into use is illustrated. Tracking unit 20 is attached to a robotic device (box 300). In some examples, this includes attaching mounting bracket 22 to an end of robotic device 200. The connection also includes connecting tracking device controller 90 to a robotic device controller (e.g., controller 210) by engaging tracking unit connector 85 to robotic device connector 215 (box 302). Once tracking unit 20 is connected, it is initialized (box 304). Initialization may include moving tracking unit 20 across object 100 and determining the spacing relative to object 100. The movement may also include moving tracking unit 20 to a location where sensor 40 detects peripheral feature 110. The position of tracking unit 20 is monitored during initialization to determine if the spacing corresponds to the expected result. The initialization process may be performed by one or both of tracking device controller 90 and robotic device controller (e.g., controller 210).

[0058] Figure 8 A method for operating the tracking unit 20 on object 100 is illustrated. The robotic device moves the tracking unit 20 across object 100 (box 310). During the movement, sensors 30 and 40 monitor the distances from object 100 and peripheral feature 110, respectively (box 312). In some examples, the tracking unit 20 moves along object 100 at a constant distance from object 100. In some examples, signaling from sensor 30 also enables the movement of the tracking unit 20 to be tangential to the curved surface of object 100.

[0059] During movement, sensor 40 monitors one or more peripheral features 110 (box 314). If no peripheral feature 110 is detected, movement across object 100 continues. If a peripheral feature 110 is detected, the distance to tracking unit 20 is determined (box 316). If this distance is greater than a predetermined safe zone distance, movement of object 100 continues. If the distance is less than the safe zone, movement of tracking unit 20 is stopped (box 318). Stopping movement prevents collisions between tracking unit 20 and peripheral features 110.

[0060] A specific example of using a tracking unit includes multiple sensors 30 (e.g., four sensors) mounted in the XY plane on the body 21. The distance to object 100 is detected and sent to controller 90. Controller 90 calculates a roll angle to balance the sensors 30 on the X and Y axes. A roll command is sent via Ethernet connector 85, enabling controller 210 to adjust movement in real time based on sensor input. This monitoring occurs on a constant cycle, allowing controller 210 to continuously adjust to the shape of object 100 as tracking unit 20 moves along movement path M. In some examples, a minimum number of inputs from different sensors 30 are used to calculate the distance to object 100.

[0061] In addition to sensor 30, sensors 40 of the same type are arranged in a circular array on the body 21, for example, on the main section 23. Each sensor 40 is aligned perpendicular to the plane in which it is aligned. Sensors 40 are configured to read the peripheral view of the tool path M. A threshold is set for the safety zone of the peripheral feature 110. When sensor 40 detects that the tracking unit 20 has entered the safety zone, a stop command is triggered to the robot device 200. The stop command overrides other movements until the peripheral feature 110 is cleared from the safety zone.

[0062] In some examples, the tracking unit 20 is self-contained, such that inputs from sensors 30 and 40, interval calculations, and control logic are executed by controller 90. Controller 90 then signals controller 210 of the robot device 200, which is configured to receive and operate according to external commands. This configuration allows the tracking unit 20 to be easily interchanged and connected to different robot devices 200.

[0063] In other examples, controller 90 signals one or more control and / or sensor inputs to a robot device controller (e.g., controller 210). The control logic is determined by controller 210, which controls the movement and operation of robot device 200 to maintain spacing relative to object 100 and peripheral feature 110.

[0064] Figure 9A robot device controller (e.g., controller 210) is schematically illustrated. Controller 210 includes processing circuitry 201, which includes one or more circuits, microcontrollers, microprocessors, hardware, or combinations thereof. Processing circuitry 201 may include various amounts of computing power to provide the required functionality. Memory circuitry 202 includes a non-transitory computer-readable storage medium, such as a computer program product, that stores program instructions 203, configuring processing circuitry 201 to implement one or more of the techniques discussed herein. Memory circuitry 202 may include various memory devices, such as, for example, read-only memory and flash memory.

[0065] Communication circuit 204 provides signal transmission and / or reception from controller 90 of tracking unit 20. Communication circuit 204 can also enable communication with remote nodes (such as, but not limited to, operators, other robotic devices, servers, and remote databases).

[0066] User interface 206 enables an operator to control one or more aspects of the system during operation. User interface 2066 includes one or more input devices, such as, but not limited to, a keyboard, touchpad, ball bearing, and joystick. User interface 206 also includes one or more displays for displaying information about the test and / or for the operator to input commands to processing circuitry 201.

[0067] This application involves the following provisions:

[0068] 1. A tracking unit configured to connect to a robotic device and move across the surface of an object, the tracking unit comprising:

[0069] main body;

[0070] One or more distance sensors are mounted on a first side of the body, and the one or more distance sensors are configured to detect the distance to the object;

[0071] One or more peripheral sensors, said one or more peripheral sensors being mounted to a second side of the body, said one or more peripheral sensors being configured to detect peripheral features; and

[0072] A controller, including processing circuitry configured to receive signals from one or more distance sensors and one or more peripheral sensors, the controller being configured to position the subject at a fixed distance from the object and prevent contact between the subject and the peripheral features.

[0073] 2. The tracking unit according to Clause 1, wherein the one or more distance sensors are mounted on the bottom surface of the body, and the one or more peripheral sensors are mounted on the lateral side of the body.

[0074] 3. The tracking unit according to Clause 2, wherein the one or more peripheral sensors are spaced apart around the centerline of the body.

[0075] 4. The tracking unit according to Clause 1, the tracking unit further comprising an Ethernet connector operatively connected to the controller, wherein the Ethernet connector is configured to enable a connection between the controller and a robot device controller.

[0076] 5. The tracking unit according to Clause 1, wherein the controller is configured to maintain a constant distance between the subject and the object based on a first input from the one or more distance sensors, and simultaneously space the subject from the peripheral feature based on a second input from the one or more peripheral sensors.

[0077] 6. The tracking unit according to Clause 1, the tracking unit further comprising a mounting member on the body, the mounting member being configured to connect to the robotic device, wherein the mounting member is positioned on the side of the body opposite to the one or more distance sensors.

[0078] 7. The tracking unit according to Clause 1, wherein the body includes a main section, the main section including a centerline and an arm extending outwardly away from the centerline, wherein the one or more distance sensors are mounted on the arm, and the one or more peripheral sensors are mounted on the main section.

[0079] 8. The tracking unit according to Clause 1, further comprising: a first hub connecting the one or more distance sensors to the processing circuitry of the controller; and a second hub connecting the one or more peripheral sensors to the processing circuitry, wherein each of the first hub and the second hub is an I2C hub.

[0080] 9. The tracking unit according to Clause 1, wherein the one or more distance sensors are aligned perpendicular to the one or more peripheral sensors.

[0081] 10. A tracking unit configured to be connected to a robotic device and move across the surface of an object, the tracking unit comprising:

[0082] A distance sensor, the distance sensor facing a first direction and configured to detect the distance to the object;

[0083] A peripheral sensor, facing a second direction, is configured to detect the distance from a peripheral feature;

[0084] The controller includes processing circuitry configured to receive signals from the distance sensor and the peripheral sensor; and

[0085] The signal enables the tracking unit to maintain a distance from the object and from the peripheral features.

[0086] 11. The tracking unit according to Clause 10, wherein the controller is configured to communicate with a robot controller to control the position of the tracking unit relative to the object based on signals from the distance sensor, and to control the position of the tracking unit relative to the peripheral feature based on signals from the peripheral sensor.

[0087] 12. The tracking unit according to Clause 10, further comprising:

[0088] The main body includes a centerline;

[0089] Mounting components, which are aligned along the centerline and configured to connect to the robotic device;

[0090] The distance sensor faces a direction perpendicular to the center line; and

[0091] The peripheral sensor faces a direction parallel to the center line.

[0092] 13. The tracking unit according to Clause 10, the tracking unit further comprising an Ethernet connector configured to connect the controller to a robot device controller.

[0093] 14. The tracking unit according to Clause 10, wherein the number of the peripheral sensors is greater than the number of the distance sensors.

[0094] 15. The tracking unit according to Clause 10, wherein the controller is configured to maintain a constant distance between the distance sensor and the object.

[0095] 16. A method for using a robotic device to track movement relative to an object, the method comprising the steps of:

[0096] While maintaining a distance between the tracking unit and the object, the tracking unit is moved across the object using the robotic device;

[0097] Detect peripheral features in the direction of movement of the tracking unit;

[0098] Determine that the distance between the peripheral feature and the tracking unit is less than a predetermined distance; and

[0099] The robot device stops the movement of the tracking unit.

[0100] 17. The method according to Clause 16, further comprising the step of: maintaining the tracking unit at a fixed distance from the object while moving the tracking unit across the object.

[0101] 18. The method according to Clause 16, further comprising the steps of: sending control commands to the robotic device and causing the robotic device to move the tracking unit across the object according to the control commands.

[0102] 19. The method according to Clause 16, further comprising the step of connecting the tracking unit to the robot controller of the robot device using an Ethernet connector.

[0103] 20. The method according to Clause 16, wherein the step of stopping the movement of the tracking unit by the robotic device comprises: stopping the movement of the tracking unit in the direction of movement.

[0104] The term "substantially" in relation to a quantity or measurement means that the listed characteristic, parameter, or value does not need to be precisely achieved. Instead, deviations or variations, including, for example, tolerances, measurement errors, measurement accuracy limitations, and other factors known to those skilled in the art, may occur in quantities that do not preclude the effects that the characteristic is intended to provide.

[0105] For ease of description, spatial relative terms such as "below," "below," "lower part," "above," and "upper part" are used to explain the positioning of one element relative to a second element. These terms are intended to cover different orientations of the device, except for orientations different from those depicted in the accompanying drawings. Furthermore, terms such as "first" and "second" are also used to describe various elements, areas, sections, etc., and are not intended to be limiting. Throughout the description, the same terms refer to the same element.

[0106] Of course, the invention may be practiced in ways other than those specifically set forth herein without departing from its essential characteristics. These embodiments are to be considered illustrative rather than restrictive in all respects, and all variations falling within the meaning and scope of the appended claims are intended to be included therein.

Claims

1. A tracking unit configured to be connected to a robotic device and to move across the surface of an object, the tracking unit comprising: main body; One or more distance sensors are mounted on a first side of the body, and the one or more distance sensors are configured to detect the distance to the object; One or more peripheral sensors are mounted to a second side of the body and are configured to detect peripheral features; as well as A controller, including processing circuitry configured to receive signals from one or more distance sensors and one or more peripheral sensors, the controller being configured to position the subject at a fixed distance from the object and prevent contact between the subject and the peripheral features.

2. The tracking unit of claim 1, wherein, The one or more distance sensors are mounted on the bottom surface of the body, and the one or more peripheral sensors are mounted on the lateral side of the body.

3. The tracking unit of claim 2, wherein, The one or more peripheral sensors are spaced apart around the center line of the body.

4. The tracking unit of claim 1, further comprising an Ethernet connector operatively connected to the controller, wherein, The Ethernet connector is configured to enable a connection between the controller and the robot device controller.

5. The tracking unit of claim 1, wherein, The controller is configured to maintain a constant distance between the subject and the object based on a first input from one or more distance sensors, and simultaneously to space the subject from the peripheral features based on a second input from one or more peripheral sensors.

6. The tracking unit of claim 1, further comprising a mount on the body, the mount configured to connect to the robotic device, wherein, The mounting component is positioned on the side of the main body opposite to the one or more distance sensors.

7. The tracking unit of claim 1, wherein, The main body includes a main section, which includes a centerline and an arm extending outward away from the centerline, wherein one or more distance sensors are mounted on the arm, and one or more peripheral sensors are mounted on the main section.

8. The tracking unit of claim 1, further comprising: A first hub connects the one or more distance sensors to the processing circuitry of the controller; And a second hub that connects the one or more peripheral sensors to the processing circuit, wherein each of the first hub and the second hub is an I2C hub.

9. A tracking unit configured to be connected to a robotic device and to move across the surface of an object, the tracking unit comprising: A distance sensor, the distance sensor facing a first direction and configured to detect the distance to the object; A peripheral sensor, facing a second direction, is configured to detect the distance from a peripheral feature; The controller includes processing circuitry configured to receive signals from the distance sensor and the peripheral sensor; and The signal enables the tracking unit to maintain a distance from the object and from the peripheral features.

10. A method for tracking the movement of a robot relative to an object, the method comprising the steps of: moving the tracking unit across the object with the robotic device while maintaining the tracking unit spaced apart from the object; detecting a peripheral feature in a direction of movement of the tracking unit; determining that the peripheral feature is less than a predetermined distance from the tracking unit; and stopping movement of the tracking unit by the robotic device.

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