# US 2018/0024223 A1 · Method and system for determining precise robotic position and orientation using near-simultaneous radio frequency measurements

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- Number: US 2018/0024223 A1
- Document ID: US20180024223A1
- Status: Published application
- Kind: A1
- Application number: 15/632,718
- Filed: 2017-06-26
- Published: 2018-01-25
- Earliest claimed: 2015-01-06
- Assignees: Discovery Robotics
- Applicants: Discovery Robotics
- Inventors: Larry J. Williams
- Web page: https://patentgrep.com/patent/US20180024223A1

## CPC

- G01S 5/0289: {of multiple transceivers, e.g. in ad hoc networks}
- B25J 5/007: {mounted on wheels}
- B25J 13/089: {Determining the position of the robot with reference to its environment}
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G01C 21/3856: {Data obtained from user input}
- G01S 5/10: Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements {, e.g. omega or decca systems}(G01S5/12 takes precedence {; beacons and receivers cooperating therewith G01S1/306, G01S1/308})
- G01S 13/0209: {Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband}
- G01S 19/42: Determining position
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/028: {using a RF signal}
- H04B 1/0092: {using a wideband front end}
- Y10S 901/01: Mobile robot
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- H04B: TRANSMISSION
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## 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.

## Claims

### Claim at position 1

1-20. (canceled)

### Claim 21

A method for determining a position of a robotic device within an environment, the method comprising:
transmitting, by a master transceiver tag associated with the 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.

### Claim 22 (depends on 21)

The method of claim 21, wherein the determining a physical location further comprises:
determining, by master the transceiver tag, a set of best fit anchor nodes based upon the distance information;
determining, by master the transceiver tag, ranging information from the transceiver tag to each of the set of best fit anchor nodes; and
calculating, by master the transceiver tag, a position of the robotic device based upon the determined ranging information.

### Claim 23 (depends on 22)

The method of claim 22, further comprising:
receiving, by the master transceiver tag, relative positioning information from a plurality of additional transceiver tags operably attached to the robotic device;
calculating, by the master transceiver tag, a location for each of the plurality of additional transceiver tags based upon the received relative positioning information and the position of the robotic device; and
determining, by the master transceiver tag, a pose of the robotic device based upon the calculated location of each of the plurality of additional transceiver tags.