End Effector Stabilization via Multi-Sensor Fusion
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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 or IMUs for local positioning, integrating data to correct for errors and stabilize the end effector tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
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 stability deteriorate due to error accumulation and drift
Solution Approach 1:
The patent combines multiple location measurement systems (global sensors and local sensors) into a unified tracking system. The global location measurement system provides broad coverage and reference frame stability, while the local location measurement system provides high-precision relative positioning. By merging these systems and fusing their data, the patent achieves both high tracking accuracy and system stability without excessive complexity.
Solution Approach 2:
The patent introduces an intermediary processing layer that fuses data from multiple location measurement systems. This intermediary system reconciles the data from global and local sensors, correcting for errors and drift in individual systems while maintaining the benefits of each. The intermediary processor integrates the high refresh rate local data with the high spatial accuracy global data to produce stable, accurate tracking information.
2Speed
If a high refresh rate location measurement system is used, then the tracking responsiveness is improved, but the spatial resolution and accuracy deteriorate
Solution Approach 1:
The patent resolves this contradiction by operating in multiple dimensions simultaneously. The global location measurement system operates in the spatial accuracy dimension, providing high-resolution position data. The local location measurement system operates in the temporal responsiveness dimension, providing high refresh rate updates. By combining measurements from both dimensions, the system achieves both high spatial resolution and high refresh rate performance.
Solution Approach 2:
The patent changes the parameters of the location measurement systems to optimize for different requirements. The global system is configured for high spatial accuracy with lower refresh rate, while the local system is configured for high refresh rate with adequate spatial resolution. The data fusion process dynamically adjusts the weighting and integration of these different parameter configurations to achieve optimal overall performance.
3Measurement precision
If multiple location measurement systems are integrated, then the tracking accuracy and stability are improved, but the device complexity increases
Solution Approach 1:
The patent segments the location measurement system into distinct functional components: a global location measurement system and a local location measurement system. Each segment is optimized for its specific function and can be independently configured and maintained. This segmentation allows the complex multi-system integration to be managed through modular design, where each segment handles specific aspects of the tracking task.
Solution Approach 2:
The patent creates a universal data fusion framework that can process and integrate data from multiple types of location measurement systems. This universal processor handles the complexity of integrating global and local sensor data, making the system adaptable to different sensor configurations and reducing the overall complexity through standardized integration protocols and algorithms.
Data Source
AI summary
Robotic control systems and methods 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. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.