Sensor-Fused Alignment Control for Faster Target Positioning
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Solution Overview
Problem
In position control systems, variations in position-related data from the drive device and measurement data can lead to inaccuracies in determining the estimated position of a control object, making it difficult to align the object with a target position efficiently.
Innovation Solution
A control device that includes a holding device, a moving device, a position sensor, and a visual sensor, which performs statistical processing of relative positions to enable precise alignment by feedback controlling the moving device based on processed data from both sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position-related data from drive device and measurement data are used for position determination, then position control function is achieved, but alignment accuracy deteriorates when data contains variations or vibration components
Solution Approach 1:
The control device uses feedback control based on visually measured relative positions to correct deviations in drive device position data. The visual sensor continuously monitors the actual position of the holding device and object, and the control device adjusts control commands to compensate for variations and vibrations, thereby maintaining high alignment accuracy despite data quality issues.
Solution Approach 2:
The visual sensor acts as an intermediary measurement device that independently verifies the position information from the drive device. By introducing this separate measurement path, the system can cross-validate position data and filter out vibrations and variations present in either measurement source, improving overall position determination reliability.
2Measurement precision
If statistical processing is performed on multiple relative positions, then alignment accuracy is improved, but processing time increases
Solution Approach 1:
The control device performs statistical processing on a limited number of relative position measurements rather than continuously processing all possible data points. By selecting an optimal sample size that provides sufficient accuracy without excessive processing, the system achieves good alignment precision while maintaining efficient processing speed and minimizing alignment time.
Data Source
AI summary
A control device includes a first statistical processing unit a second statistical processing unit and a movement control unit. The first statistical processing unit acquires relative positions of the object calculated by the visual sensor and performs statistical processing on the acquired relative positions of the object. The second statistical processing unit acquires from the position sensor relative positions of the holding device corresponding to each of the relative positions of the object calculated by the visual sensor, and performs statistical processing on the acquired relative positions of the holding device. The movement control unit performs feedback control of the moving device based on the relative positions of the object and the relative positions of the holding, device and performs alignment of the object with the target position while moving the object closer to the target position.