Robot Self-Localization Using Movement Surface Features
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Solution Overview
Problem
Robots traveling on a movement surface relative to a workpiece face inaccuracies in location estimation due to odometry, leading to functions being performed outside desired tolerances, especially when the movement surface lacks guidance paths or target indicators.
Innovation Solution
A method and apparatus where a robot on a movable base uses sensors to form data representing identifying characteristics of the movement surface, determining its location and the location of its end effector relative to the workpiece, allowing precise self-localization and function performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If odometry is used to estimate robot location on a movement surface, then the robot can operate without guidance paths or target indicators, but location accuracy deteriorates over time due to compounding inaccuracies
Solution Approach 1:
The patent introduces an intermediary system consisting of a camera and processing equipment that captures images of the movement surface and generates location information. This intermediary mediates between the robot's motion and its location determination, eliminating the need for odometry while maintaining accuracy. The camera acts as a mediator that directly observes the movement surface to determine position without relying on cumulative motion measurements.
Solution Approach 2:
The patent replaces the mechanical odometry system with an optical sensing system. Instead of using wheel encoders and mechanical motion tracking, the system uses a camera to capture images of the movement surface and computationally determines location. This substitution of mechanical measurement with optical sensing eliminates the compounding inaccuracies inherent in odometry.
2Measurement precision
If guidance paths or target indicators are placed on the workpiece, then location accuracy improves, but the complexity of the manufacturing system increases
Solution Approach 1:
The movement surface serves multiple functions: it provides the physical support for robot movement, contains the visual features for location determination, and acts as the reference frame for positioning. By making the movement surface multi-functional, the patent eliminates the need for separate guidance paths or target indicators, reducing system complexity while maintaining location accuracy.
Solution Approach 2:
The patent merges the location determination features directly into the movement surface itself. Rather than having separate guidance paths or target indicators, the visual features are integrated into the movement surface structure. This merging reduces the number of separate components and simplifies the overall system while maintaining measurement precision.
3Adaptability or versatility
If the movement surface lacks identifying characteristics, then the robot can operate on any movement surface, but the robot cannot accurately determine its location
Solution Approach 1:
The patent applies local quality by incorporating specific visual features (identifying characteristics) into the movement surface that enable location determination. These localized features provide the necessary information for the camera-based system to accurately determine robot position, while the overall system remains adaptable to different movement surfaces by using generic image processing techniques.
Data Source
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AI summary
A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.