Camera-Based 6DOF Tracking for Construction Robots
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Solution Overview
Problem
Current tracking systems for large construction robots face challenges in accurately measuring the position and orientation of end effectors in real-time, leading to reduced dynamic performance and increased costs, especially when dealing with long reach and line of sight constraints, and existing solutions like laser trackers are expensive and delicate.
Innovation Solution
A camera-based tracking system with a plurality of cameras and targets, where cameras are spaced radially apart with overlapping fields of view, and targets are uniquely configured to ensure well-conditioned triangulation for accurate 6DOF position and orientation measurement, allowing for real-time tracking and reduced costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser trackers are used for position and orientation measurement, then measurement precision is improved, but device cost and complexity increase
Solution Approach 1:
The patent replaces the mechanical laser tracker system with an optical camera-based system. Instead of using laser beams and mechanical scanning components, the invention uses multiple cameras to capture images of targets, processes the images to extract position and orientation data. This substitution eliminates the need for expensive laser trackers while achieving comparable measurement precision through purely optical means combined with computational processing.
Solution Approach 2:
The patent uses multiple cameras to capture multiple views of the same target, creating redundant copies of the measurement information. By processing these multiple image copies through triangulation algorithms, the system achieves accurate 6DOF position and orientation data without requiring a single expensive laser tracker. The copying approach allows for error correction and improved precision through data fusion.
2Measurement precision
If laser trackers are used for position and orientation measurement, then measurement precision is improved, but system reliability decreases
Solution Approach 1:
The patent divides the measurement function into multiple independent camera units rather than relying on a single laser tracker. Each camera independently captures target images, and the system processes data from multiple cameras simultaneously. This segmentation provides redundancy - if one camera fails or its data is corrupted, the system can still function using data from other cameras, thereby improving overall system reliability while maintaining measurement precision.
Solution Approach 2:
The patent implements redundancy in the measurement system by using multiple cameras and multiple targets. This beforehand cushioning ensures that if environmental factors (such as dust, vibration, or occlusion) affect one camera's view, the system still has alternative data sources to maintain accurate position and orientation measurement, thus protecting against measurement failures.
3Productivity
If high data rate measurement is used for real-time tracking, then dynamic performance is improved, but measurement precision deteriorates
Solution Approach 1:
The patent performs preliminary processing of image data to extract target positions and orientations at high frame rates without requiring full image analysis. By pre-processing images to identify and track target features efficiently, the system achieves real-time data rates while maintaining measurement precision through focused processing of critical measurement points rather than analyzing entire images.
Solution Approach 2:
The patent applies different processing quality levels to different parts of the measurement system. High-precision triangulation algorithms are applied to the specific target features that need accurate measurement, while other parts of the image data receive less intensive processing. This local quality approach maintains precision for critical measurements while enabling high overall data rates for real-time tracking.
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 provides accurate and cost-effective real-time six degree of freedom tracking of position and orientation, reducing the need for expensive laser trackers and improving dynamic performance by ensuring uninterrupted line of sight and robustness.
Implementation Method 1
determine, using the processed image data, the position and/or orientation of the object by triangulation
Data Source
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AI summary
The present disclosure relates to a tracking system for tracking the position and/or orientation of an object in an environment, the tracking system including: at least one camera mounted to the object; a plurality of spaced apart targets, at least some of said targets viewable by the at least one camera; and, one or more electronic processing devices configured to: determine target position data indicative of the relative spatial position of the targets; receive image data indicative of an image from the at least one camera, said image including at least some of the targets; process the image data to: identify one or more targets in the image; determine pixel array coordinates corresponding to a position of the one or more targets in the image; and, use the processed image data to determine the position and/or orientation of the object by triangulation.