Closed-Loop Feedback Control Using Motion Capture Systems

• US 20080125896A1
• Filed: 07/24/2006
• Published: 05/29/2008
• Est. Priority Date: 07/24/2006
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J., Erignac, Charles A., Murray, Paul
• Granted Patent: US 7,643,893 B2
• Time in Patent Office: Days
• US Class Current: 700/110
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

Systems and methods for closed-loop feedback control of controllable devices using motion capture systems are disclosed. In one embodiment, a system includes a motion capture system configured to measure one or more motion characteristics of one or more controllable devices as the one or more controllable devices are operating within a control volume. A processor receives the measured motion characteristics from the motion capture system and determines a control signal based on the measured motion characteristics. A position control system receives the control signal and continuously adjusts at least one motion characteristic of the one or more controllable devices in order to maintain or achieve a desired motion state. The controllable device may be equipped with passive retro-reflective markers. The motion capture system, the processor, and the position control system comprise a complete closed-loop feedback control system.

Claims

1. A system for controlling one or more controllable devices, comprising:

a motion capture system configured to repetitively measure one or more motion characteristics of the one or more controllable devices as the one or more controllable devices are operating within a control volume;

a processing component configured to receive the measured motion characteristics from the motion capture system and to determine a command signal based on the measured motion characteristics; and

a position control system configured to receive the command signal and to adjust at least one motion characteristic of the one or more controllable devices in a closed-loop feedback manner.

2. The system of claim 1, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system;

an application computer operatively coupled to the at least one communication network and configured to compute the command signal; and

one or more control modules operatively coupled to the at least one communication network and configured to receive the command signal, and to transmit the command signal to the one or more controllable devices.

3. The system of claim 2, wherein the one or more control modules are further configured to recondition the command signal into a format suitable for use by the one or more controllable devices.

4. The system of claim 1, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system and configured to transmit the motion characteristics measured by the motion capture system; and

an on-board processing component positioned on each of the one or more controllable devices, the on-board processing component being configured to receive the measured motion characteristics from the at least one communication network and to compute the command signals.

5. The system of claim 1, wherein the motion capture system includes a plurality of detection devices operatively positioned with respect to the control volume.

6. The system of claim 5, wherein the plurality of detection devices are configured to determine six-degree-of-freedom information for each of the controllable devices operating within the control volume.

7. The system of claim 5, wherein each of the one or more controllable devices has a plurality of retro-reflective markers positioned thereon, and wherein the plurality of detection devices comprise a plurality of motion detection cameras configured to detect at least some of the retro-reflective markers positioned on the one or more controllable devices.

8. The system of claim 7, wherein the plurality of camera devices are further configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.

9. The system of claim 5, wherein the plurality of motion detection devices are further configured to track the one or more controllable devices based on a plurality of passive reflector devices positioned on each controllable device.

10. The system of claim 9, wherein the plurality of motion detection devices include multiple correlated motion measurement cameras having approximately sub-centimeter positional accuracies, update frequencies of at least 20 Hz, and latency periods of 1/20^th second or less.

11. The system of claim 5, wherein a plurality of secondary passive reflector devices are positioned on a moveable component of at least some of the controllable devices, and wherein the plurality of motion detection devices are further configured to track a secondary motion characteristic of the moveable component using the plurality of secondary passive reflector devices.

12. The system of claim 11, wherein the moveable component comprises a rotating component and the secondary motion characteristic comprises an angular velocity.

13. The system of claim 1, wherein the one or more controllable devices includes at least one of a vehicle, and a robot.

14. The system of claim 13, wherein the at least one vehicle includes at least one of a flight vehicle, a rotary-powered flight vehicle, a lighter-than-air flight vehicle, and a ground based vehicle.

15. A manufacturing system, comprising:

at least one controllable device including a position control system adapted to controllably position a workpiece;

a plurality of markers positioned on the workpiece;

a motion capture system configured to repetitively measure one or more motion characteristics of the plurality of markers as the workpiece is controllably positioned within a control volume by the controllable device;

a processing component configured to receive the measured motion characteristics from the motion capture system and to determine at least one command signal based on the measured motion characteristics; and

wherein the position control system of the controllable device is configured to receive the command signal and to adjust at least one motion characteristic of the workpiece in a closed-loop feedback manner.

16. The system of claim 15, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system;

an application computer operatively coupled to the at least one communication network and configured to compute the command signal; and

one or more control modules operatively coupled to the at least one communication network and configured to receive the command signal, and to transmit the command signal to the position control system of the controllable device.

17. The system of claim 16, wherein the one or more control modules are further configured to recondition the command signal into a format suitable for use by the position control system of the controllable device.

18. The system of claim 15, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system and configured to transmit the one or more motion characteristics measured by the motion capture system; and

an on-board processing component positioned on the controllable device, the on-board processing component being configured to receive the one or more measured motion characteristics from the at least one communication network and to compute the command signal.

19. The system of claim 15, wherein the motion capture system includes a plurality of detection devices operatively positioned with respect to the control volume, the plurality of detection devices being configured to determine six-degree-of-freedom information for the workpiece.

20. The system of claim 15, wherein the plurality of markers includes a plurality of retro-reflective markers, and wherein the motion capture system includes a plurality of motion detection cameras configured to detect at least some of the retro-reflective markers positioned on the workpiece.

21. The system of claim 20, wherein the plurality of camera devices are further configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.

22. The system of claim 15, wherein the controllable device comprises at least one of a vehicle, and a robot.

23. A viewing system, comprising:

at least one controllable device including a position control system adapted to controllably position a viewing device, and a plurality of markers positioned on the controllable device;

a motion capture system configured to repetitively measure one or more motion characteristics of the controllable device as the controllable device is controllably positioned within a control volume;

a processing component configured to receive the measured motion characteristics from the motion capture system and to determine at least one command signal based on the measured motion characteristics; and

wherein controllable device is configured to receive the command signal and to adjust at least one motion characteristic of the controllable device in a closed-loop feedback manner.

24. The system of claim 23, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system;

an application computer operatively coupled to the at least one communication network and configured to compute the command signal; and

one or more control modules operatively coupled to the at least one communication network and configured to receive the command signal, and to transmit the command signal to the controllable device.

25. The system of claim 23, wherein the processing component includes:

at least one communication network operatively coupled to the motion capture system and configured to transmit the one or more motion characteristics measured by the motion capture system; and

an on-board processing component positioned on the controllable device, the on-board processing component being configured to receive the one or more measured motion characteristics from the at least one communication network and to compute the command signal.

26. The system of claim 23, wherein the motion capture system includes a plurality of detection devices operatively positioned with respect to the control volume, the plurality of detection devices being configured to determine six-degree-of-freedom information for the controllable device.

27. The system of claim 23, wherein the plurality of markers includes a plurality of retro-reflective markers, and wherein the motion capture system includes a plurality of motion detection cameras configured to detect at least some of the retro-reflective markers.

28. The system of claim 27, wherein the plurality of camera devices are further configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.

29. The system of claim 23, wherein the controllable device comprises at least one of a vehicle, and a robot.

30. A method of operating a controllable device, comprising:

measuring one or more motion characteristics of the controllable device using a motion capture system operatively disposed with respect to a control volume as the controllable device operates within the control volume;

receiving the one or more measured motion characteristics from the motion capture system;

determining a command signal based on the one or more motion characteristics; and

transmitting the command signal to the controllable device to control at least one motion characteristic of the controllable device in a closed-loop feedback manner.

31. The method of claim 30, wherein:

receiving the one or more measured motion characteristics includes receiving the one or more measured motion characteristics using at least one communication network;

determining a command signal includes determining a command signal using an application computer operatively coupled to the at least one communication network; and

transmitting the command signal to the controllable device includes transmitting the command signal from the application computer to the controllable device.

32. The method of claim 31, further comprising reconditioning the command signal from application computer into a reconditioned signal suitably formatted for the controllable device.

33. The method of claim 30, wherein:

receiving the one or more measured motion characteristics includes receiving the one or more measured motion characteristics using at least one communication network; and

determining a command signal includes

receiving the one or more measured motion characteristics from the communication network into an on-board processing component positioned on the controllable device; and

computing the command signal using the on-board processing component.

34. The method of claim 30, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of motion detection devices operatively distributed about at least a portion of the control volume, the motion detection devices being configured to determine six-degree-of-freedom information for the controllable device operating within the control volume.

35. The method of claim 30, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of retro-reflective markers positioned on the controllable device.

36. The method of claim 35, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of camera devices configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.

37. The method of claim 30, wherein measuring one or more motion characteristics of the controllable device includes measuring one or more motion characteristics of at least one of a vehicle, and a robot.

38. A method of viewing an activity, comprising:

positioning a moveable device within a control volume, the moveable device being equipped with a viewing device configured to view of the activity;

measuring one or more motion characteristics of the moveable device using a motion capture system operatively disposed with respect to the control volume as the moveable device operates within the control volume;

receiving the one or more measured motion characteristics from the motion capture system;

determining a command signal based on the one or more motion characteristics; and

transmitting the command signal to the moveable device to control at least one motion characteristic of the moveable device in a closed-loop feedback manner.

39. The method of claim 38, wherein:

receiving the one or more measured motion characteristics includes receiving the one or more measured motion characteristics using at least one communication network;

determining a command signal includes determining a command signal using an application computer operatively coupled to the at least one communication network; and

transmitting the command signal to the moveable device includes transmitting the command signal from the application computer to the moveable device.

40. The method of claim 38, wherein:

receiving the one or more measured motion characteristics includes receiving the one or more measured motion characteristics using at least one communication network; and

determining a command signal includes

receiving the one or more measured motion characteristics from the communication network into an on-board processing component positioned on the moveable device; and

computing the command signal using the on-board processing component.

41. The method of claim 38, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of motion detection devices operatively distributed about at least a portion of the control volume, the motion detection devices being configured to determine six-degree-of-freedom information for the moveable device operating within the control volume.

42. The method of claim 38, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of retro-reflective markers positioned on the moveable device.

43. The method of claim 42, wherein measuring one or more motion characteristics includes measuring one or more motion characteristics using a plurality of camera devices configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.