Synthetic Array Radar Robot Localization With Passive Beacons
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Solution Overview
Problem
Conventional methods for determining the positions and orientations of objects in an industrial robot's environment, such as jogging, off-line tools, and machine vision systems, are time-consuming, limited, and not always reliable, especially for dynamic objects and environments with multiple randomly placed items.
Innovation Solution
A robotic system utilizing a moveable element with an object detection transceiver unit that emits signals to detect markers in the environment, generating a composite return image to determine their locations within a defined coordinate system, allowing for precise guidance of the robot's movements during operations like pick and place, welding, and assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional methods like jogging or machine vision are used to determine object positions, then the robot can identify object locations, but the process is time-consuming and not reliable for dynamic objects
Solution Approach 1:
The patent introduces passive beacons as intermediary objects that are attached to or placed on the objects of interest. These beacons reflect radar signals and provide distinct signatures that make them easily distinguishable from the background environment. The robot system detects these beacon signatures rather than directly sensing the objects themselves, which accelerates the localization process while maintaining high accuracy even for dynamic objects.
Solution Approach 2:
The patent replaces mechanical positioning methods (jogging with joysticks) and optical systems (machine vision cameras) with a radar-based synthetic aperture imaging system. This substitution enables rapid, contactless detection of object positions through electromagnetic wave reflection, significantly reducing measurement time while improving reliability for dynamic objects that may move during the measurement process.
2Measurement precision
If machine vision systems are used to detect object positions, then localization can be achieved under ideal conditions, but the system is unreliable in varying lighting and line of sight conditions
Solution Approach 1:
The patent replaces optical-based machine vision systems with a radar-based synthetic aperture imaging system. Radar waves can penetrate through smoke, dust, and varying lighting conditions that disrupt optical cameras. The passive beacons reflect radar signals consistently regardless of environmental conditions, providing reliable detection signatures that maintain measurement precision in challenging industrial environments where machine vision would fail.
Solution Approach 2:
The patent changes the detection parameter from optical reflection (which depends on lighting conditions) to electromagnetic wave reflection at radar frequencies. This parameter change makes the detection system insensitive to visible light variations, allowing consistent object localization in environments with changing illumination, smoke, or dust that would otherwise compromise machine vision reliability.
3Measurement precision
If a small transceiver aperture is used, then the device complexity is reduced, but the localization accuracy and ability to distinguish multiple markers decreases
Solution Approach 1:
The patent employs a moveable element that dynamically repositions the transceiver unit to multiple predetermined positions within the robot's operational cell. By moving the transceiver through different locations and synthesizing the radar returns from all positions, the system creates a virtual large-aperture image. This dynamic approach achieves high localization accuracy equivalent to a physically large transceiver without the complexity and cost of building a permanently large aperture structure.
Solution Approach 2:
The patent transitions from a static single-position transceiver to a multi-position moving transceiver, adding the dimension of spatial movement to the detection system. By collecting radar data from multiple positions along a predetermined path and synthesizing this information, the system creates a high-resolution image that effectively emulates a large aperture. This dimensional approach allows a small physical transceiver to achieve the localization precision of a much larger fixed aperture.
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
This approach enables high localization accuracy in a short time, even in complex environments with multiple objects, improving the efficiency and reliability of industrial robot operations by using synthetic array radar to emulate a larger transceiver aperture and differentiate between markers with distinct physical characteristics.
Implementation Method 1
an object detection transceiver unit adapted to be mounted on the moveable element. The controller is configured to: control the object detection transceiver unit to emit a signal and obtain a return signal
Implementation Method 2
the marker reflective of the signals emitted by the object detection transceiver unit
Data Source
AI summary
A system includes a moveable element adapted to move relative to a coordinate system defined for a robot, an object detection transceiver unit adapted to be mounted on the moveable element, and a controller. The controller controls the object detection transceiver unit to emit a signal and obtain a return signal for an operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit. A location corresponding to a marker present in the operational cell is determined from the return signals. A predetermined operation is carried out where the predetermined operation includes using the determined location to guide movement of the robot.