Mobile Robot Calibration via CAD Pose Difference
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Solution Overview
Problem
The calibration of mobile robots relative to work objects in industrial settings is difficult and time-consuming, especially when dealing with large structures, as it requires accurate placement and measurement of work object coordinate systems, which is challenging with existing technologies.
Innovation Solution
A method using a CAD system to load models of the robot, movable platform, and work object, allowing the robot to reach the work object, and then performing 3D measurements to calculate and adjust the pose difference between CAD models, enabling automatic movement of the platform to compensate for the calculated differences, thereby facilitating accurate calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional calibration methods are used for mobile robots, then the calibration can be performed, but the process is difficult and time-consuming
Solution Approach 1:
The patent applies preliminary action by pre-defining multiple predetermined robot positions and their corresponding measurement tasks before actual calibration. The system pre-calculates optimal measurement points and sequences, so that during execution, the robot simply needs to move to predefined positions and perform measurements according to a pre-planned sequence, significantly reducing calibration time and complexity
Solution Approach 2:
The calibration process is segmented into multiple discrete robot positions, each with specific measurement tasks. Instead of attempting calibration in a continuous or monolithic process, the system divides the work area into multiple stations, with the robot sequentially visiting each position to perform targeted measurements, making the overall calibration process more manageable and efficient
2Measurement precision
If accurate calibration is pursued for mobile robots, then measurement precision improves, but the complexity of the calibration system increases
Solution Approach 1:
The patent introduces a computing device as an intermediary that coordinates between the mobile robot, measurement device, and calibration process. This intermediary automatically processes measurement data, calculates coordinate transformations, and manages the sequence of operations, thereby achieving high measurement precision without requiring complex manual calibration procedures or overly complicated system architecture
Solution Approach 2:
The patent replaces complex mechanical calibration adjustments with automated computational methods. Instead of relying on manual positioning and mechanical alignment procedures that would increase system complexity, the system uses software-based coordinate system calculations and digital transformations to achieve accurate calibration, substituting mechanical complexity with computational simplicity
Data Source
AI summary
A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.