US 2006/0149489 A1 · Self-calibrating sensor orienting system

Abstract

One embodiment of the present invention relates to the control of an orienting/positioning system comprising a sensor and an actuator for controlling an orienting and/or positioning action of the sensor. A first step evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor. A second step decides on a targeted post-action position of the pattern in the input space of the sensor. A third step defines 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. A fourth step controls the actuators according to the defined command in order to carry out an orienting/positioning action. A fifth step detects the real post-action position of the pattern in an input space of the sensor. A sixth step adapts the mapping function used in step three 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. According to one embodiment, steps one through six are cyclically repeated at least once using the respectively adapted mapping.

Claims21

Dependent claims

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.

5 more elements

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:

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.

3 more elements

Dependencies are inferred from the claim text.

Self-calibrating sensor orienting system

Life of this patent

Self-calibrating sensor orienting system

Life of this patent

Abstract

Claims21