Modular Autonomy Control Unit for Robotic Tool Self-Calibration
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Solution Overview
Problem
Existing methods for controlling autonomous robotic tools face challenges in achieving precise and reliable operation, especially when adapting to different types of robotic tools or changes in their properties over time, which complicates and increases the cost of providing autonomous capabilities.
Innovation Solution
A modular autonomy control unit that transfers test instructions to the robotic tool, detects sensor input, computes an error vector, and updates calibration data to adapt to the tool's properties, allowing it to control the robotic tool effectively and efficiently, even when paired with new implements or experiencing property changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a modular autonomy control unit is used to control different types of robotic tools, then cost efficiency and adaptability are improved, but precision and reliability of control deteriorate
Solution Approach 1:
The system performs preliminary calibration by executing test instructions and gathering sensor data before actual operation. This preliminary action creates a customized model of the specific robotic tool, ensuring precise and reliable control subsequent to the calibration phase.
Solution Approach 2:
The system uses sensor feedback from test actions to compute error vectors and iteratively refine calibration data. This feedback mechanism allows the modular control unit to adapt to the specific characteristics of each robotic tool, resolving the contradiction between versatility and precision.
2Measurement precision
If calibration data is updated based on test actions, then measurement precision and control accuracy are improved, but loss of time and productivity deteriorate
Solution Approach 1:
The system performs a limited set of essential test actions rather than exhaustive calibration procedures. By selecting only the most critical test instructions needed to establish accurate calibration data, the system achieves sufficient precision without excessive time investment.
3Reliability
If the control unit adapts to properties of the robotic tool, then reliability and precision are improved, but device complexity increases
Solution Approach 1:
The modular autonomy control unit performs self-calibration by automatically executing test instructions, gathering sensor data, computing error vectors, and updating its own calibration data without external intervention. This self-service approach manages complexity internally while maintaining simplicity from the user perspective.
Data Source
AI summary
The present disclosure relates to a method for controlling an autonomous robotic tool using a modular autonomy control unit. The control unit includes an interface with the autonomous robotic tool and comprises a processor, configured to control the autonomous robotic tool during operation. The modular autonomy control unit transfers a set of test instructions to the autonomous robotic tool, triggering the latter to carry out a set of test actions in response to the test instructions—The modular autonomy control unit detects sensor input in response to the test actions, and computes a corresponding error vector, based on which calibration data is updated. Then, the modular autonomy control unit controls the robotic tool based on the calibration data. This allows a general control unit to be used in connections with several types of robotic work tools.