Self-calibrating sensor orienting system

摘要

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.