Imaging-Guided Docking Arm Alignment for Precise Automated Docking
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Solution Overview
Problem
The manual alignment and docking of computer-assisted devices with docking ports is often tedious and time-consuming, especially when large masses are involved, making it difficult for operators to achieve precise positioning and orientation.
Innovation Solution
A computer-assisted device equipped with a linkage, docking arm, and docking support mechanisms, utilizing imaging and registration systems to automatically detect and align with a docking port, and actuate the linkage for seamless docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual alignment and docking methods are used, then operators can control the docking process, but the process becomes tedious and time-consuming
Solution Approach 1:
The system performs preliminary actions by automatically positioning the docking arm near the docking port and pre-aligning it using imaging data before manual docking is attempted. This preliminary automated positioning reduces the time and effort required for manual alignment while preserving operator control for the final docking decision.
Solution Approach 2:
The imaging system and processor act as intermediaries between the operator and the docking process. They provide visual feedback and automated positioning assistance, mediating between manual control inputs and the physical docking action to reduce the time and complexity of the operation.
2Ease of operation
If manual alignment methods are used, then operators can adjust positioning, but precision is difficult to achieve with large masses
Solution Approach 1:
The docking process is segmented into distinct phases: automated imaging and positioning phase, and manual adjustment phase. The system handles the precision-critical positioning through automated imaging-guided movement, while the operator handles higher-level adjustments. This segmentation allows each phase to optimize for its specific function, achieving both precision and operator control.
Solution Approach 2:
The imaging system provides continuous visual feedback to the operator during the docking process. This feedback loop allows the operator to see real-time positioning accuracy and make precise adjustments, combining automated positioning with human judgment to achieve high docking precision despite the large mass of the docking arm.
3Productivity
If automated docking is implemented, then docking speed and precision are improved, but device complexity increases
Solution Approach 1:
The imaging system serves multiple functions: it captures images for positioning, provides visual feedback to operators, and enables automated docking calculations. By making the imaging system multi-functional, the patent avoids adding separate systems for each function, thereby reducing overall device complexity while maintaining high docking efficiency.
Solution Approach 2:
The system performs self-positioning using its own imaging system and processor. The docking arm uses the imaging data to automatically calculate and execute positioning movements without requiring external guidance systems or additional complex control infrastructure, enabling automated docking while limiting the increase in overall system complexity.
Data Source
AI summary
Systems and methods for automated docking include a linkage, a docking arm located near a distal end of the linkage, a docking support mechanism, and one or more processors. The one or more processors are configured to detect a docking port using the docking support mechanism and actuate the linkage based on the detection to align the docking arm with the docking port, move the docking arm toward the docking port, and dock the docking arm to the docking port. In some embodiments, to actuate the linkage based on the detection, the one or more processors are configured to align the docking arm with an alignment point of the docking port, align an alignment axis of the docking arm with an alignment axis of the docking port, rotationally align the docking arm with the docking port, and reduce a relative distance between the docking arm and the docking port.