Radar-Guided Robot Positioning for Accurate 3D Interaction
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Solution Overview
Problem
Current methods for robot-guided interaction devices face challenges in achieving high-precision positioning and navigation without collision, especially in diverse environments, as they often require modifications and additional sensors for accurate distance measurement and 3D imaging.
Innovation Solution
Integration of multiple radar antennas into or onto the interaction device, allowing for precise distance determination and 3D imaging using various radar operating modes, which transmit and receive signals to generate a 3D image of the scene, enabling accurate spatial positioning and orientation of the device relative to the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple radar antennas are integrated into the interaction device, then positioning accuracy and 3D imaging capability are improved, but device complexity increases
Solution Approach 1:
The system divides the radar sensing function into multiple distributed antennas integrated across different elements of the interaction device. Each antenna independently scans a portion of the interaction space, and the controller synthesizes data from all antennas to achieve high-precision 3D positioning and imaging, resolving the contradiction by distributing complexity across modular components.
Solution Approach 2:
The radar antennas serve multiple functions simultaneously: distance measurement, 3D imaging, and spatial orientation determination. This multi-functionality allows the system to achieve high measurement precision without adding separate sensor systems, thereby limiting the increase in device complexity.
2Measurement precision
If radar antennas are integrated into each movable element of the interaction device, then positioning accuracy is improved, but device complexity and manufacturing difficulty increase
Solution Approach 1:
The interaction device is segmented into multiple movable elements, with radar antennas integrated into each element. This segmentation enables independent positioning measurement for each element, achieving high overall positioning accuracy while allowing standardized manufacturing of individual antenna modules that can be assembled systematically.
Solution Approach 2:
Each movable element is equipped with radar antennas having defined positions and beam characteristics tailored to its specific function and location. This local optimization ensures that each element contributes maximally to overall positioning accuracy while maintaining manufacturability through specialized but modular design.
3Measurement precision
If radar antennas with defined beam characteristics are used, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The radar antennas are configured with predetermined defined positions and beam characteristics before operation. The controller is pre-programmed with the geometric relationships and illumination characteristics of each antenna, allowing the system to achieve high measurement precision through pre-characterized components rather than requiring complex real-time calibration, thus limiting device complexity.
4Reliability
If 3D imaging is performed using multiple radar antennas, then navigation and collision avoidance capability are improved, but measurement time and processing complexity increase
Solution Approach 1:
The radar antennas operate in a coordinated scanning mode where multiple antennas transmit and receive signals continuously or in rapid succession, building up the 3D image of the interaction space in real-time. This continuous scanning approach enables dynamic navigation and collision avoidance without significant measurement delays, maintaining system responsiveness.
Solution Approach 2:
The 3D imaging process is divided into multiple simultaneous scanning operations by different antennas covering different areas of the interaction space. The controller processes these parallel data streams to construct the complete 3D image, reducing total measurement time compared to sequential scanning while maintaining imaging quality and reliability for collision avoidance.
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
This approach enables highly accurate positioning and 3D imaging of the interaction device in any environment without additional sensors, allowing for precise gripping and interaction tasks, including in harsh conditions like fog, and supports complex gripping tools with movable elements.
Implementation Method 1
multiple radar antennas are integrated into the interaction device or attached to the interaction device such that at least one area of an interaction space of the interaction device can be scanned with the radar antennas
Data Source
Figure 1~2
AI summary
The present invention relates to a method and an arrangement for positioning a robot-guided interaction apparatus with respect to an object. In the method, one or more radar antennas (5) are integrated in the interaction apparatus or are fitted to the interaction apparatus and are controlled to emit and receive radar signals. A distance to the object (7) is determined from the received radar signals and a 3-D image of a scene recorded with the one or more radar antennas (5) is generated. The interaction apparatus is then positioned with respect to the object (7) on the basis of the distance determined from the radar signals and the 3-D image generated from the radar signals. The method and the arrangement make it possible to position the interaction apparatus in a highly accurate manner in virtually any environments and with restricted visibility conditions without having to make alterations or install additional sensors at the particular location of use.