Increasing robustness of online calibration through motion detection
First Claim
1. A method for controlling an orienting system, the orienting system comprising at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means, the method comprising the steps of:
- (a) evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means;
(b) deciding on a targeted post-action position of said pattern in the input space of said sensor means;
(c) defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function;
(d) orienting the sensor means by the actuator means according to the defined command in order to carry out an orienting and/or positioning action;
(e) detecting the real post-action position of the patterns in the input space of said sensor means;
(f) detecting external motion of the pattern;
(g) adapting the mapping function used in said defining step (c); and
repeating steps (a) to (g) using the respectively adapted mapping function;
wherein an output signal from the external-motion detection device is used to control at least step (g).
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Abstract
In a method for controlling an orienting/positioning system, the orienting system comprises at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means. The method comprises the steps of: (a) Evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means; (b) Deciding on a targeted post-action position of said pattern in the input space of said sensor means; (c) Defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function; (d) Orienting/Positioning the sensor means by the actuator means according to the defined command in order to carry out an orienting/positioning action; (e) Detecting the real post-action position of the patterns in the input space of said sensor means; (f) Detecting external motion of the pattern; and (g) Adapting the mapping function used in step (c), wherein steps (a) to (g) are repeated using the respectively adapted mapping function. An output signal from the external-motion detection device can be used to control the adaptation step (g).
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Citations
7 Claims
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1. A method for controlling an orienting system, the orienting system comprising at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means, the method comprising the steps of:
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(a) evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means;
(b) deciding on a targeted post-action position of said pattern in the input space of said sensor means;
(c) defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function;
(d) orienting the sensor means by the actuator means according to the defined command in order to carry out an orienting and/or positioning action;
(e) detecting the real post-action position of the patterns in the input space of said sensor means;
(f) detecting external motion of the pattern;
(g) adapting the mapping function used in said defining step (c); and
repeating steps (a) to (g) using the respectively adapted mapping function;
wherein an output signal from the external-motion detection device is used to control at least step (g). - View Dependent Claims (2, 3, 4, 5)
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6. An auto-calibrating orienting system, comprising at least one sensory system, an actuator control unit, an actuator unit, an adaptation unit and an external-motion detector,
said actuator control unit comprising: -
means for evaluating pre-action output information of said sensory system in order to detect the position of a pattern in the input space of said sensory system, means for deciding on a targeted post-action position of a pattern in the input-space of the sensory system, means for generating a command for commanding the actuator unit by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensory system to actuator control unit coordinates using a predefined mapping function, and means for detecting the real post-action position of the pattern in the input space of said sensory system; and
the adaptation unit comprising means for calibrating the mapping function based on a difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensory system in order to carry out an incremental adaptive learning of the mapping function;
wherein the adaptation unit is supplied with an output signal from the external-motion detection unit. - View Dependent Claims (7)
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Specification