Robot Tracking Positioning With Vision-Inertial Marker Reference
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Solution Overview
Problem
Current robot system position determination methods, such as Program By Demonstration (PBD), are complex and prone to errors due to the reliance on external sensors, which can be blocked or interfered with by barriers, limiting their efficiency and accuracy.
Innovation Solution
A tracking device equipped with both a vision sensor and an inertial sensor that determines its position relative to a reference marker, eliminating the need for external sensors by using image analysis and inertial measurements to correct for errors, allowing for accurate position determination in a more convenient and effective manner.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external sensors are used for position determination, then position measurement can be achieved, but the system becomes vulnerable to interference and blocking by barriers
Solution Approach 1:
The patent combines multiple sensing modalities (vision sensor for optical field detection, inertial sensor for motion detection, and radio frequency sensor for electromagnetic field detection) into a single tracking device. This multi-sensor fusion approach ensures that if one sensing modality is blocked or interfered with by barriers, the other modalities can compensate and continue to provide position determination, thereby resolving the contradiction between measurement precision and reliability under barrier interference.
Solution Approach 2:
The patent introduces a reference marker as an intermediary element that reflects or re-emits signals from multiple fields (optical, inertial, radio frequency). This reference marker serves as a mediator between the tracking device and the environment, enabling the tracking device to acquire position information through multiple sensing pathways that are less susceptible to single-point blocking, thus improving both measurement precision and reliability.
2Measurement precision
If multiple sensors are integrated in the tracking device, then position determination accuracy improves, but device complexity increases
Solution Approach 1:
The tracking device is designed with multi-functional sensors that can detect multiple types of fields (optical, inertial, radio frequency) using unified or overlapping technical principles. For example, the vision sensor and inertial sensor can work together for position determination, and the radio frequency sensor can provide additional redundancy. This multi-functionality allows the system to achieve high measurement precision while managing device complexity through shared processing and coordinated operation of sensors.
3Extent of automation
If Program By Demonstration technique is used for robot system management, then robot programming can be achieved, but the procedure becomes complex and position determination has drawbacks
Solution Approach 1:
The patent replaces the complex mechanical PBD programming procedure with an automated sensor-based tracking system. Instead of manually demonstrating robot movements through complex mechanical operations, the system uses vision sensors, inertial sensors, and radio frequency sensors to automatically track and record position information. This substitution of mechanical demonstration with electronic sensing and data processing simplifies the programming procedure while maintaining full automation capability, resolving the contradiction between extent of automation and procedure complexity.
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
The solution enables accurate and efficient position determination within the robot system, reducing errors caused by external sensor interference and barriers, and simplifies the process by allowing the tracking device to operate independently without external sensors.
Implementation Method 1
obtaining a first position of the tracking device in relative to a reference marker based on an image of the reference marker that is collected by the vison sensor
Implementation Method 2
obtaining by the inertial sensor a second position of the tracking device in relative to the first position after a movement of the tracking device
Data Source
AI summary
Methods, apparatuses, systems, and computer readable media for determining a position of a tracking device. The tracking device includes a vision sensor and an inertial sensor. A first position of the tracking device in relative to a reference marker is obtained based on an image of the reference marker that is collected by the vison sensor. A second position of the tracking device in relative to the first position is obtained by the inertial sensor after a movement of the tracking device. A position of the tracking device in relative to the reference marker is determined based on the first and second positions.