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 other anchor node 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 other 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.
28 Citations
20 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 other anchor node 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 other anchor nodes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining a position of a robotic device within an environment, the method comprising:
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transmitting, by a master transceiver tag associated with a robotic device, a request to join a network, the network comprising at least one master node and a plurality of anchor nodes; receiving, by the master transceiver tag, distance information for at least a portion of the master node and the plurality of anchor nodes; and determining, by the master transceiver tag, a physical location of the robotic device within the environment. - View Dependent Claims (11, 12, 16, 17, 18, 19, 20)
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13. A system for determining a location of a robotic device within an environment, the system comprising:
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a robotic device configured to move throughout the environment, the robotic device comprising a master transceiver tag, the master transceiver tag comprising a processing device and a non-transitory computer readable medium operably connected to the 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 processing device and a non-transitory computer readable medium operably connected to the processing device of the master anchor node and configured to store a second set of instructions that, when executed, cause the 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 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. - View Dependent Claims (14, 15)
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Specification