Robot Datum Detection for Point Cloud Localization
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Solution Overview
Problem
Current systems for providing situational awareness to robots are inadequate for certain applications, necessitating improved methods for determining the position and navigation of robots within their workspace.
Innovation Solution
A system utilizing a position finder, such as a camera or scanner, to capture signals and create a point cloud of the workspace, combined with a computer-based application for object recognition, which transforms the point cloud data into a robot-centric frame of reference to enable accurate positioning and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing systems are used for robot situational awareness, then basic navigation is possible, but positioning accuracy and reliability are insufficient for certain applications
Solution Approach 1:
The patent introduces a datum object as an intermediary reference element in the workspace. This datum serves as a mediator between the robot and the environment, providing stable, recognizable features that enable accurate localization. The datum object with its specific geometric features acts as a reference mediator that improves positioning accuracy without requiring complex system changes
Solution Approach 2:
The system creates a point cloud representation (digital copy) of the physical workspace and datum object. By working with this digital model rather than directly with physical sensors, the system can accurately determine robot position through coordinate transformations between the point cloud frame and robot frame, enhancing positioning precision
2Measurement precision
If a position finder and point cloud system are implemented, then positioning accuracy improves, but device complexity increases
Solution Approach 1:
The patent extracts only the essential features needed for localization from the complete workspace environment. By focusing on detecting specific datum features (geometric primitives) rather than processing all environmental data, the system achieves accurate positioning while reducing computational complexity. The datum object is designed with simple, detectable features that can be identified without complex analysis
Solution Approach 2:
The datum object serves multiple functions simultaneously: it provides a reference frame for localization, enables coordinate transformations, and offers geometric features for detection. This multi-functionality reduces the need for separate systems for each task, thereby managing complexity while maintaining precision
Data Source
AI summary
Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.