Self-calibrating sensor orienting system
First Claim
1. A method for controlling an orienting/positioning system, the orienting/positioning system comprising at least a sensor and an actuator for controlling at least one of an orienting and a positioning action of the sensor, the method comprising the steps of:
- (S1) evaluating pre-action output information of the sensor in order to detect a pre-action position of a pattern in an input space of the sensor;
(S2) determining a targeted post-action position of the pattern in the input space of the sensor;
(S3) defining a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function;
(S4) orienting the sensor by the actuator according to the defined command in order to carry out the orienting action; and
(S5) detecting a real post-action position of the pattern in the input space of the sensor; and
(S6) adapting the mapping function used in step S3 based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function, wherein steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.
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Abstract
Controlling an orienting/positioning system having a sensor and actuator for controlling at least one of an orienting and positioning action of the sensor. The invention (1) evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor, (2) determines a targeted post-action position of the pattern in the input space of the sensor, (3) defines an actuator command by mapping any deviation of the pre-action and post action position in the input space to actuator control coordinates using a predefined mapping function, (4) controls the actuators according to the defined command to execute the orienting/positioning action, (5) detects the real post-action position of the pattern in an input space of the sensor, (6) adapts the mapping function based on differences between the real post-action position and the targeted post-action position of the pattern in the input space.
8 Citations
21 Claims
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1. A method for controlling an orienting/positioning system, the orienting/positioning system comprising at least a sensor and an actuator for controlling at least one of an orienting and a positioning action of the sensor, the method comprising the steps of:
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(S1) evaluating pre-action output information of the sensor in order to detect a pre-action position of a pattern in an input space of the sensor; (S2) determining a targeted post-action position of the pattern in the input space of the sensor; (S3) defining a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function; (S4) orienting the sensor by the actuator according to the defined command in order to carry out the orienting action; and (S5) detecting a real post-action position of the pattern in the input space of the sensor; and (S6) adapting the mapping function used in step S3 based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function, wherein steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. The method for controlling an orienting/positioning system, the orienting/positioning system comprising at least a sensor and an actuator for controlling at least one of an orienting and a positioning action of the sensor, comprising the steps of:
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(S1) mapping output information of the sensor in the input space coordinates of the sensor to actuator control coordinates using a predefined mapping function; (S2) determining a targeted post-action position, the decision taking place in the actuator control coordinates; (S3) defining a command for the actuator based on a result of the decision; and (S4) orienting the sensor by the actuator according to the defined command in order to carry out the orienting action of the sensor. - View Dependent Claims (13, 14)
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15. An auto-calibrating orienting/positioning system, comprising at least a sensor means, a computing means and an actuator means for controlling at least one of an orienting and a positioning action of the sensor means, the computing means comprising:
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means for evaluating pre-action output information of the sensor means in order to detect a pre-action position of a pattern in an input space of the sensor means; means for deciding on a targeted post-action position of the pattern in the input space of the sensor means; means for commanding the actuator means, a command being generated by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor means to actuator control coordinates using a predefined mapping function; means for detecting a real post-action position of the pattern in the input space of the sensor means; and means for calibrating the mapping function based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor means in order to carry out an incremental adaptive learning of the mapping function. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification