Laser Tracker Positioning for Aerial Robot End Effectors
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Solution Overview
Problem
Current position measurement systems for aerial robots lack the precision necessary for high accuracy motion, especially in large working volumes, as they rely on GPS, accelerometers, gyros, and cameras which are limited in their ability to provide precise positioning within a defined coordinate system.
Innovation Solution
A light-based measurement system using a laser tracker and a cooperative target to accurately control the position of an aerial robot's end effector within a large volume working environment, where a coordination computer communicates with the laser tracker and the aerial robot to establish a coordinate system and execute action plans for precise positioning and actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional position measurement systems (GPS, accelerometers, gyros, cameras) are used for aerial robots, then the system is simple and easy to operate, but the measurement precision is insufficient for high accuracy motion in large working volumes
Solution Approach 1:
A cooperative target is introduced as an intermediary between the aerial robot and the laser tracker. The target carries retroreflectors that enable the laser tracker to precisely measure the robot's position and orientation by reflecting the laser beam back to the detector, solving the limitation of traditional sensors while maintaining system manageability through modular components
Solution Approach 2:
The patent replaces traditional mechanical/inertial measurement systems (accelerometers, gyros) with an optical measurement system (laser tracker). This substitution enables high-precision positioning in large working volumes by using light-based measurement instead of mechanical sensors, achieving superior measurement precision without relying on complex inertial navigation
2Volume of stationary object
If the working volume is increased for aerial robots, then the robot can perform tasks in larger spaces, but the position measurement accuracy decreases due to limitations of traditional measurement systems
Solution Approach 1:
The laser tracker optical measurement system replaces traditional inertial sensors, enabling accurate position and orientation measurement across large working volumes. The system uses a coordinate system defined by the laser tracker that can cover extensive spaces while maintaining high measurement precision through optical triangulation and time-of-flight measurements
Solution Approach 2:
The cooperative target with retroreflectors serves as a mediator that enables the laser tracker to maintain measurement accuracy across large volumes. The retroreflectors ensure the laser beam is reflected back to the detector regardless of the target's orientation, allowing precise tracking of the aerial robot's position and orientation throughout the entire working volume
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
Enables accurate placement and operation of an aerial robot's end effector in a large volume working environment, maintaining precision and orientation, allowing for complex tasks such as additive manufacturing, painting, and measurement with high accuracy and efficiency.
Implementation Method 1
said target comprises at least one retroreflector
Implementation Method 2
a light beam measurement device... capable of emitting an emitted measurement beam and capable of detecting said emitted measurement beam
Data Source
AI summary
A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with an aerial robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the aerial robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A separate coordination computer runs control software that communicates with both the laser tracker and the aerial robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the aerial robot, and the actions to be taken.