Method and system for determining precise robotic position and orientation using near-simultaneous radio frequency measurements
First Claim
1. A method for establishing a reference grid and locating an object within the reference grid, the method comprising:
- receiving, by at least one anchor node of a plurality of anchor nodes in a network, an indication that a selected anchor node is to function as a master anchor node;
transmitting, by the master anchor node, a ranging message as an ultra-wideband (UWB) signal;
receiving, by the master anchor node, a ranging message response from each of the plurality of anchor nodes in the network;
generating, by the master anchor node, a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses; and
distributing, by the master anchor node, the reference grid to each of the plurality of anchor nodes.
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Accused Products
Abstract
A method and system for determining position and/or pose of an object. A robotic device moves throughout an environment and includes a master transceiver tag and, optionally, additional tags. The environment includes a plurality of anchor nodes that are configured to form a network. A master anchor node is in communication with at least a portion of the plurality of anchor nodes and is configured to transmit a ranging message as a UWB signal, receive a ranging message response from each other anchor node in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the other anchor nodes. The master transceiver tag receives the reference grid information and, based upon further calculations, determines a specific position and pose of the robotic device within the environment.
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Citations
10 Claims
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1. A method for establishing a reference grid and locating an object within the reference grid, the method comprising:
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receiving, by at least one anchor node of a plurality of anchor nodes in a network, an indication that a selected anchor node is to function as a master anchor node; transmitting, by the master anchor node, a ranging message as an ultra-wideband (UWB) signal; receiving, by the master anchor node, a ranging message response from each of the plurality of anchor nodes in the network; generating, by the master anchor node, a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses; and distributing, by the master anchor node, the reference grid to each of the plurality of anchor nodes. - View Dependent Claims (2, 3, 4, 5)
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6. A system for determining a location of a robotic device within an environment, the system comprising:
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the robotic device configured to move throughout the environment, the robotic device comprising a master transceiver tag, the master transceiver tag comprising a first processing device and a first non-transitory computer readable medium operably connected to the first processing device of the master transceiver tag and configured to store a first set of instructions; and a plurality of anchor nodes located throughout the environment and configured to form a network; and a user-selected master anchor node in communication with at least a portion of the plurality of anchor nodes, the master anchor node comprising a second processing device and a second non-transitory computer readable medium operably connected to the second processing device of the master anchor node and configured to store a second set of instructions that, when executed, cause the second processing device of the master anchor node to; transmit a ranging message as an ultra-wideband (UWB) signal, receive a ranging message response from each of the plurality of anchor nodes in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the plurality of anchor nodes. - View Dependent Claims (7, 8, 9, 10)
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Specification