Rotating Detection Means for Dynamic Robot Positioning
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Solution Overview
Problem
Dynamic 6D measurement of robots is challenging due to measurement inaccuracies caused by relative movement between marker arrangements and laser trackers, especially during fast robot movements, which complicates the determination of precise position and orientation.
Innovation Solution
A robot-guided measuring arrangement with multiple detection means, including 2D and 1D cardanic detection systems, that can rotate and adjust to maintain accurate detection of passive markers, allowing for simultaneous detection and synchronization of measurement signals to reduce inaccuracies and enable dynamic 6D measurement during robot movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser trackers sequentially detect markers on a moving robot, then measurement can be performed, but measurement precision deteriorates due to relative movement between markers and tracker
Solution Approach 1:
The patent applies the dynamics principle by making the detection means itself movable through cardanic suspensions that allow rotation about multiple axes. This enables the detection means to dynamically track and follow the movement of markers on the robot, maintaining accurate detection even during fast robot movements. The cardanic suspension system provides the necessary degrees of freedom to adapt the detector's position and orientation to the marker's motion.
Solution Approach 2:
The patent introduces cardanic suspension mechanisms as intermediary elements between the stationary housing and the detection means. These suspensions act as mediators that transmit and accommodate relative movements, allowing the detection means to maintain proper alignment with moving markers while being mounted on a relatively stationary platform. The intermediary cardanic joints decouple the detection system from rigid positional constraints.
2Productivity
If multiple detection means are used for simultaneous marker detection, then dynamic measurement capability improves, but device complexity increases
Solution Approach 1:
The patent merges multiple detection means into a single integrated measuring device housing, sharing common structural support, power supply, and control systems. The cardanic suspension mechanism is implemented as a standardized module that can be replicated for each detection means, reducing overall system complexity through component standardization. This combining approach enables simultaneous multi-marker detection while avoiding the complexity of completely separate measurement systems.
Solution Approach 2:
The detection means are designed with universal cardanic suspension mechanisms that provide multi-axis rotational capability, allowing a single detection device to function in multiple orientations and positions. This multi-functionality enables the same hardware configuration to detect multiple markers simultaneously from different angles, replacing what would otherwise require multiple specialized detection systems.
3Adaptability or versatility
If cardanic suspension is used to enable detection means rotation, then adaptability to marker positions improves, but device complexity increases
Solution Approach 1:
The cardanic suspension system is segmented into discrete rotational stages, each providing rotation about a specific axis. This segmentation allows the complex multi-axis motion capability to be built from simpler, standardized rotational components. Each cardanic joint can be independently controlled and calibrated, making the overall system more manageable despite its enhanced adaptability.
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
Enables precise dynamic 6D measurement of robots at high clock rates (up to 1 kHz) with reduced measurement errors, allowing for accurate positioning and orientation determination even during fast movements.
Implementation Method 1
These record a three-dimensional position of a passive marker using laser interferometry.
Data Source
Figure 1
Figure 2~4
AI summary
A robot-guided measuring system according to the invention comprises a measuring device (1) that includes at least three detection means (A, B, C) for detecting a position of a passive marker (Rho1,..., P9). The at least three detection means are rotatable in a joint housing (1.1) of the measuring device. The measuring device also includes a joint control means (1.2) for controlling the detection means. The disclosed measuring system further comprises a reference member (2) that includes at least three non-collinear passive markers (Rho1,..., P9) which can be detected by the detection means. The measuring system finally comprises a robot (3) which guides either the measuring device or the reference member.