Multi-Resolution End Effector Localization for Accurate Robotic Tracking
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Solution Overview
Problem
Existing robotic systems face challenges in accurately tracking the location of end effector tools within worksites, leading to undesired movements due to factors like vibrations and error accumulation in location data, which affects their ability to perform tasks efficiently and accurately.
Innovation Solution
A control system that combines global and local sensors to provide multi-resolution location data, allowing for high refresh rate and high accuracy tracking of end effector tools. This system includes laser trackers for global positioning and cameras/IMUs for local positioning, integrating data to correct for errors and stabilize the end effector tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single location measurement system is used to track the end effector tool, then the system complexity is reduced, but the tracking accuracy and refresh rate cannot simultaneously satisfy both high precision and real-time requirements
Solution Approach 1:
The location measurement system is segmented into multiple independent measurement systems, each providing location data at different resolutions and refresh rates. This allows the system to combine high-precision low-rate data with high-rate data to achieve both accuracy and real-time tracking without requiring a single overly complex system.
Solution Approach 2:
The system adds a temporal dimension to the measurement data by incorporating multiple refresh rates. Instead of relying on a single measurement system operating at one fixed rate, the system integrates data from multiple systems operating at different temporal resolutions, enabling simultaneous satisfaction of precision and speed requirements.
2Productivity
If a high refresh rate location measurement system is used, then real-time tracking is improved, but the spatial resolution and accuracy of location data deteriorate
Solution Approach 1:
The measurement system is divided into segments with different characteristics: one segment provides high spatial resolution at lower refresh rates, while another segment provides high refresh rate data at lower resolution. The control system combines these segmented data streams to achieve both high productivity and high precision.
Solution Approach 2:
The system changes the parameters of the measurement systems to operate at different refresh rates and resolutions simultaneously. By adjusting and combining data from multiple systems with different parameter settings, the system achieves optimal performance in both speed and accuracy dimensions.
3Measurement precision
If multiple location measurement systems are used to provide high refresh rate and high accuracy data, then tracking precision is improved, but the system complexity and data integration difficulty increase
Solution Approach 1:
The control system uses feedback mechanisms to continuously monitor and adjust the integration of data from multiple measurement systems. By implementing feedback loops that validate and reconcile data from different sources, the system manages the complexity of integrating multiple high-precision measurement systems while maintaining accurate tracking.
4Reliability
If location data from multiple systems is integrated, then error accumulation is reduced, but the processing time and computational complexity increase
Solution Approach 1:
The system applies partial integration strategies where not all measurement data is processed at full detail simultaneously. Instead, the system selectively integrates data at appropriate levels of detail and only processes critical error-correction information in real-time, reducing computational overhead while maintaining reliability.
Data Source
AI summary
In one aspect, a method is described. The method may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.