Robot Pose Validation Through Simulated Sensor Cross-Comparison
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Solution Overview
Problem
Current methods for validating the pose of a robot and sensor data are inadequate, particularly in ensuring safety standards are met in complex environments, as they lack reliable interfaces and require laborious testing processes, which are not efficient for real-time safeguarding.
Innovation Solution
A method and system that utilize digital twins of the robot and sensor to simulate movements and measurements, allowing for cross-comparisons between real and simulated data to validate the pose and sensor data, ensuring compliance with safety standards through various validation scenarios and tolerances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex safety measures such as redundant electronics and functional monitoring are implemented to satisfy safety standards, then reliability of safety monitoring is improved, but device complexity increases
Solution Approach 1:
The patent creates a digital twin (virtual copy) of the robot system including its sensors and environment. This virtual model is used to simulate and validate sensor measurements and robot poses without requiring physical redundant hardware. The digital twin replicates the robot's kinematics, sensor characteristics, and environmental conditions to enable virtual validation that reduces the need for complex physical safety systems.
Solution Approach 2:
The patent performs validation of sensor data and robot poses in advance through simulation in the digital twin environment. By pre-validating measurement data against the virtual model before actual operation, the system ensures safety compliance without requiring complex real-time monitoring hardware. The preliminary validation includes checking whether measured values match expected values from the digital twin.
2Measurement precision
If laborious testing processes are conducted to validate sensor functionality, then measurement precision is improved, but loss of time increases
Solution Approach 1:
Instead of performing physical tests with actual sensors, the patent uses a digital twin to generate expected measurement values virtually. The validation process compares real sensor data against these pre-computed virtual values, eliminating the need for time-consuming physical reference measurements while maintaining validation accuracy.
Solution Approach 2:
The patent replaces physical testing mechanisms with computational validation. Instead of moving sensors to physical reference positions and performing manual measurements, the system uses mathematical models in the digital twin to compute expected values and validates sensor data through data comparison. This substitution of mechanical testing with computational methods dramatically reduces validation time.
3Reliability
If safe interfaces are implemented to provide validated pose information from the robot, then reliability of pose validation is improved, but device complexity increases
Solution Approach 1:
The patent creates a digital twin that replicates the robot's pose information and provides this through a virtual interface. The digital twin receives robot state data and generates corresponding expected sensor measurements, providing a validated reference without requiring complex physical interface hardware. The virtual interface in the digital twin model supplies pose information for validation purposes.
Data Source
AI summary
A method of validating a pose of a robot and/or of sensor data of a sensor moved along with the robot is provided, wherein a robot controller determines the real pose of the robot and the sensor measures real sensor data, In this respect, a robot simulation determines a simulated pose of the robot by a simulated movement of the robot and a sensor simulation determines simulated sensor data of the sensor by a simulated sensor measurement and the validation takes place by at least one comparison of the real pose and the simulated pose of the robot, of real sensor data and simulated sensor data, and/or of simulated sensor data among one another.