Mobile Metrology Platform With Two-Stage Pose Positioning
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Solution Overview
Problem
Conventional coordinate measuring machines are stationary and require a larger footprint than the object being measured, limiting their ability for rapid and accurate positioning, especially when measuring or machining specific points on objects in industrial manufacturing.
Innovation Solution
A mobile platform with a kinematic system and an instrument head, equipped with sensors and a controller that uses digital representations of the object and machine learning algorithms for accurate pose estimation and positioning, allowing for precise movement and tracking of the instrument head relative to the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional coordinate measuring machines are used, then measurement capability is provided, but the device requires a larger footprint than the object being measured and cannot achieve rapid positioning
Solution Approach 1:
The patent applies the dynamics principle by transitioning from a stationary coordinate measuring machine to a mobile robotic platform. The robotic arm with instrument head can dynamically move throughout the spatial region containing the object, eliminating the requirement for the device footprint to exceed the object size. The mobile platform enables rapid repositioning to any location on or around the object, achieving both compact form factor and fast positioning capability.
2Measurement precision
If accurate positioning of the instrument head is achieved, then measurement precision is improved, but the time required for positioning increases
Solution Approach 1:
The patent applies preliminary action by performing coarse positioning of the instrument head to a preliminary pose before the actual measurement. This preliminary positioning brings the instrument head into proximity with the target point on the object, after which fine positioning algorithms can efficiently achieve the final accurate pose. This two-stage approach significantly reduces the time required for high-precision positioning compared to direct fine positioning from any starting location.
Solution Approach 2:
The system employs feedback mechanisms through sensors that detect the position and orientation of the instrument head relative to the object. This feedback information is used by control algorithms to continuously adjust and refine the instrument head positioning, enabling rapid convergence to the target pose with high accuracy. The feedback loop allows the system to adapt to actual object positions and achieve precise positioning efficiently.
3Measurement precision
If multiple sensors are used for positioning the platform and robotic arm, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The patent applies universality by designing the sensor system to serve multiple functions simultaneously. The same sensors used for positioning the mobile platform are also utilized for positioning the robotic arm and for measuring the object. This multi-functional sensor approach achieves high positioning accuracy without proportionally increasing system complexity, as the sensor data is processed through integrated control algorithms that coordinate all positioning tasks.
Data Source
AI summary
An apparatus for measuring, inspecting and/or processing objects is provided. The apparatus has a mobile platform for moving the apparatus through a region in space and a kinematic system attached to the mobile platform. An instrument head is fitted to the kinematic system. The apparatus furthermore comprises a controller configured to determine a first estimate of a pose of a target object on the basis of an image from a camera of the apparatus and a digital representation of the target object, to control the mobile platform on the basis of the first estimate, to move toward the target object, to determine a second estimate, in particular a more accurate estimate, of the pose of the target object on the basis of signals from at least one sensor of the apparatus and to control the kinematic system to position the instrument head on the target object on the basis of the second estimate.