Evaluating scan information using location information

Abstract

An apparatus (100, 200) having a processing unit (110) configured to receive scan information (120 a ) of a two-dimensional scan (120 b ) of a surface (130) is described herein. The processing unit (110) is further configured to receive position information (120 c ) indicative of a tilt of a capturing unit (120, 510) relative to the surface (130), said capturing unit providing the two-dimensional scan (120 b ), and to evaluate the scan information (120 a ) using the position information (120 c ) for a positioning of the capturing unit (120, 510) relative to the surface (130).

Description

Technical Field

[0001] This invention relates to an apparatus for evaluating scan information using position information. In particular, this invention relates to optical tilt compensation by means of a rotary encoder. Background Technology

[0002] Autonomous vehicles require some form of positioning, for example, the ability to navigate safely in space. This might involve cameras or other optical sensors that help reposition previously mapped features in the surrounding area by measuring (e.g., in the form of images). Because such measurements or observations are prone to error, they are typically recalculated using the vehicle's odometer with the aid of statistical estimators such as Kalman filters. This process may require, for example, optical measurements of features whose only degree of freedom is the vehicle's position. For vehicles with suspension, the distance from the ground can vary due to the deflection of the chassis. Furthermore, if the deflection at different wheels has different amplitudes, the entire vehicle may have a tilted position relative to a fixed reference point in the world.

[0003] During operation, the vehicle's yaw may change in different ways. The following are possible reasons for this:

[0004] Changes in loading status, such as by accommodating or releasing payloads of different weights,

[0005] Dynamic changes in the acceleration vector, such as strong deceleration or acceleration.

[0006] Material defects, such as defective spring damper components.

[0007] For example, uneven vehicle mass distribution and / or changes in vehicle mass distribution caused by the movement of the payload.

[0008] Vehicle deflection can alter the chassis position, and thus the spatial position of sensors attached to the chassis, without changing the vehicle's position on the ground plane. Therefore, it's possible that the degree of freedom is interfering with positioning. It should be noted that deflection is not necessarily caused by conventional springs; it could also be due to some kind of flexibility in the chassis or underbody, such as that caused by inflatable wheels.

[0009] Existing technology

[0010] For previous solutions, two scenarios can be considered. On one hand, a rigid chassis can be used, which is not uncommon in vehicles used indoors. In this case, the aforementioned problems do not occur or are almost nonexistent. For example, "incorrect measurements" are only possible when the wheels leave the ground, such as during strong deceleration or acceleration. However, this may only occur for a very short time, which is why incorrect measurements are rare or meaningless. However, a technical disadvantage of a rigid chassis is that the vehicle cannot compensate for bumps on the ground.

[0011] On the other hand, in the case of a chassis with suspension, algorithms can be used in the measurements of the evaluation sensors that are robust to perspective distortion caused by changes in sensor position due to deflection. A good example of this might be localization via QR codes affixed to the ground, which, among other things, is also used in warehouse robots. Such vehicles or robots may indeed be suspension-free, but QR codes are very robust to perspective distortion in detection. Other landmark-based localization methods, such as those based on codes in the surrounding area rather than on the ground, can work in the same or similar ways.

[0012] However, a drawback of the marker-based approach in this case is that markers, such as QR codes, must be applied to the surrounding area beforehand, and information about the marker's location or the surrounding area must be incorporated into the marker. This can then be associated with additional work in terms of cost and time. Furthermore, replacement or maintenance of the markers, such as repainting, may be necessary, for example, due to wear and tear, such as on surfaces where vehicles travel, or when the markers are dusty. This can also lead to the disadvantage of needing to monitor the markers' condition to prevent accidents or malfunctions.

[0013] Therefore, an improved concept is needed that enables the use of a vehicle that, on the one hand, has a suspension to ensure good driving characteristics, and on the other hand, performs navigation autonomously without relying on markings applied to the surrounding area, i.e., based on optical scanning, such as by extracting features of the surrounding area or by using the inherent features of the surrounding area.

[0014] Therefore, the object of the present invention is to provide an improved concept that makes it possible to use position information, such as information about the deflection of a vehicle with suspension, and scan information of a capture unit that is part of the vehicle, to locate the capture unit and thus the vehicle. Summary of the Invention

[0015] The inventors have recognized that the positioning of a capture unit (e.g., part of a vehicle) can be improved and / or realized based on scanning information from a two-dimensional scan of the surface of the capture unit, where the position information indicates the tilt of the capture unit relative to the surface. Embodiments of the invention are based on the core idea of ​​evaluating scanning information using the positioning information relative to the capture unit's location. The use of position information enables simple pattern detection and / or rapid position calculation.

[0016] According to an embodiment, an apparatus includes a processing unit configured to obtain scan information of a two-dimensional scan of a surface and to obtain position information indicating the tilt of a capture unit relative to the surface, the capture unit providing the two-dimensional scan and evaluating the scan information using the position information regarding the positioning of the capture unit relative to the surface.

[0017] Here, the capture unit may be part of a vehicle navigating on a surface. To locate the capture unit and thus, for example, the vehicle, the processing unit of the device can obtain scan information of a two-dimensional scan of the surface from the capture unit. In the case of a vehicle with suspension, the capture unit may include tilt relative to the surface (e.g., due to the different deflections of the vehicle's individual wheels). In the case of a drone, the capture unit may include tilt relative to the surface (e.g., due to pitch and roll motion).

[0018] Here, for example, based solely on scan information—especially without additional markers—the positioning of the capture unit relative to the target unit may be impossible or difficult to evaluate, for example, scan information distorted due to the tilt of the capture unit. Considering the tilt can be advantageous, particularly in positioning methods based on the inherent features of the surrounding area (e.g., features of the ground or surrounding walls) rather than on previously introduced markers. In such methods, for example, pattern-like features are identified in the surrounding area and compared to a database. Due to the distortion of the scan information, the feature mapping stored in the database may fail, and thus positioning may fail. Therefore, the processing unit is configured to obtain positional information indicating the tilt of the capture unit relative to the surface. Thus, the tilt can be considered, for example, and therefore the distortion, in order to perform the positioning of the capture unit.

[0019] According to an embodiment, a method includes obtaining scan information of a two-dimensional scan of a surface, obtaining position information indicating the tilt of a capture unit relative to the surface, the capture unit providing the two-dimensional scan, and evaluating the scan information by using position information about the positioning of the capture unit relative to the surface.

[0020] By taking into account the tilt and position information of the capture unit, the scanning information of the surface can be evaluated relative to the positioning of the capture unit, and / or an improved evaluation can be performed. Therefore, the method of the present invention can thus perform positioning based on scanning information that does not include any coded information or other direct information regarding the tilt of the capture unit.

[0021] According to embodiments, the computer program includes program code for performing the methods of the present invention. For example, the computer program for performing the methods of the present invention can be executed on a vehicle, such as a mobile robot platform, to locate the vehicle, and / or executed in a central computing unit, for example, to obtain scan information from multiple vehicles and determine the vehicle's position based thereon. In the form of a computer program, the methods of the present invention can be used in a variety of applications and variations thereof, such as on higher-performance computing devices with microcontrollers or central computing units.

[0022] According to an embodiment, the processing unit is configured to manipulate scan information by using position information to obtain manipulated scan information, and to perform an evaluation of the manipulated scan information with respect to the positioning of the capture unit relative to the surface.

[0023] For example, distortion of scan information caused by the tilt of the capture unit relative to the surface can be at least partially compensated for by manipulating the scan information using position information. In this way, for example, a downstream evaluation method (e.g., an image evaluation method) may extract features from the scan information that can locate the capture unit. This allows for more precise and / or robust localization of the capture unit.

[0024] According to an embodiment, the processing unit is configured to perform correction of the scan information based on position information. For example, geometric distortions in the scan information, in the form of image data, can be at least partially equalized through correction or equalization. Therefore, the scan information (such as an image) can be transformed in such a way that it appears as if it were captured perpendicular to the surface. In this way, the distance and position of features contained in the scan information, and which include position information about the capture unit on the surface, can be determined so that they can be compared with, for example, a database to determine the position of the capture unit.

[0025] According to an embodiment, the capture unit includes a camera and / or a laser distance sensor array. Using a camera and / or laser distance sensor array is cost-effective, available, and useful for providing scanning information, particularly for mobile robot applications. Furthermore, the information content of the scanning information from this type of capture unit allows for the extraction of features from the surrounding area to locate the capture unit.

[0026] According to an embodiment, the processing unit is configured to at least partially compensate for perspective distortion in the scan information by using location information. The positioning of the capture unit can be achieved and / or improved by adjusting the scan information. For example, equalizing the evaluation of the scan information enables the extraction of information about the inherent features of the surrounding area, and comparing this information with a database enables the inference of the capture unit's position. Furthermore, improvements can be made to distance estimation, for example, to avoid collisions with obstacles.

[0027] According to an embodiment, the device includes a position capture unit configured to capture position information, wherein the device includes a capture unit. For example, the device may be configured as a vehicle including a capture unit (e.g., a camera) for navigation on a surface. To take into account position information and / or manipulation scan information in order to locate the capture unit and thus the device, the device further includes a position capture unit to capture position information. For example, the position capture unit may be configured as a multi-axis rotation angle sensor, for example, arranged near the capture unit to capture position information.

[0028] This device, in combination with a position acquisition unit and a capture unit, can be used for robots that move automatically or autonomously. Through the combination of the sensor system in the position acquisition unit and the capture unit, along with evaluation in the form of a processing unit of the device, a system can be provided that can independently find its path in its environment, for example, by determining its own position. By using the position information from the position acquisition unit to improve localization, the corresponding vehicle can orient itself better, or at least better orient itself in unknown environments, such as those without any markings.

[0029] According to an embodiment, the device is a vehicle having at least two suspended wheel segments, and the capture unit includes a predetermined relative position with respect to the at least two suspended wheel segments. By configuring the device as a vehicle with at least two suspended wheel segments, good driving characteristics of the device can be achieved, for example, making the device usable in difficult terrain with uneven surfaces. In this case, in particular, the device may include three, four, or more suspended wheel segments. Determining the deflection of the wheel segments by the predetermined position of the capture unit relative to the at least two suspended wheel segments allows for the calculation of the tilt angle of the capture unit, for example, to improve the scan information and / or its evaluation.

[0030] According to an embodiment, the position capture unit includes at least two sensor elements, each of which is arranged on one of at least two suspension wheel segments, and wherein a processing unit is configured to receive measurements related to the suspension travel of the wheel segment from each of the at least two sensor elements, and to calculate position information based on a combination of the measurements.

[0031] By placing each sensor element directly on the suspension wheel segment, simple and / or cost-effective sensor elements can be used. Instead of a central sensor, such as one comprising several measurement axes (i.e., capable of performing measurements in several spatial dimensions), several simple or single-axis sensors (e.g., capable of performing measurements relative to only one spatial dimension) can be used, and their measurement information is combined. Furthermore, more than one sensor element can be arranged on a suspension wheel segment, each providing redundancy, for example, in particularly safety-critical applications.

[0032] According to an embodiment, at least two sensor elements are arranged at the wheel segment, such that the sensor elements undergo a significant positional change when the wheel segment deflects downwards or upwards. This arrangement of the sensor elements, such as the wheel segment, improves the sensitivity of positional information to changes in tilt relative to the acquisition unit, ensuring that even small changes in downward or upward deflection of the wheel segment affect the sensor element's measurement value. Therefore, the positioning accuracy of the acquisition unit can be improved.

[0033] According to an embodiment, the processing unit is configured to receive measurement values ​​from each of at least two sensor elements and determine, based on the measurement values, information about the suspension travel of at least two wheel segments, wherein the information about the suspension travel includes information about the distance from the respective wheel segment to the surface, the distance being variable due to the suspension of the wheel segment, and thus including information about the tilt of the capturing unit relative to the surface.

[0034] For example, by using stored wheel segment geometry and the relative position of the capture unit with respect to the wheel segment, the capture unit can determine the deflection of the corresponding wheel segment by evaluating measurements, and thus determine the distance of the wheel segment relative to the surface, which is variable on the suspension. The distance of the wheel segment to the surface can then be used to calculate the tilt of the capture unit relative to the surface using the predetermined relative position of the capture unit.

[0035] According to embodiments, at least two sensor elements include a distance sensor and / or a rotary encoder. The distance sensor and rotary encoder form a robust and usable sensor element, particularly in vehicles such as mobile robot platforms. Due to the good availability of such sensors, the corresponding device can also be mass-produced. Furthermore, the use of a distance sensor allows for the direct determination of the distance between the wheel segment and the surface, used to determine the position information of the capture unit. With the rotary encoder, the deflection or distance of the wheel segment to the surface can be inferred by determining the tilt of the wheel segment and known geometric information of the wheel segment, thereby determining position information, such as information about the tilt of the capture unit relative to the surface.

[0036] In this context, for example, the distance sensor may include an ultrasonic sensor and / or a laser distance measurement, or a laser distance sensor. In principle, these can be used, for example, a rotary encoder, to determine the vehicle's tilt position, and thus, to determine, for example, the tilt angle of the capture unit.

[0037] According to an embodiment, the device is a vehicle for a sorting system. Configuring the device as a vehicle, for example, with a capture unit and a position capture unit, enables autonomous or self-propelled robots. The device of this invention has major advantages in its use in sorting systems, such as improved positioning by taking position information into account, allowing for trajectory planning and collision avoidance through improved determination of individual robot positions, and, in particular, eliminating the need for complex and expensive markers.

[0038] According to an embodiment, the vehicle is configured to drive autonomously. The improved position determination of this invention enables and / or improves autonomous driving because the risk of collision can be reduced, for example, due to more accurate information about the vehicle's own position.

[0039] According to an embodiment, the method further includes manipulating scan information using position information to obtain manipulated scan information, and evaluating the manipulated scan information with respect to the positioning of the capture unit relative to the surface.

[0040] Manipulating scan information using location information makes it possible to extract features of the surrounding area from the scan information, and / or evaluate features relative to their shape (or type) and / or, in particular, their relative positions to each other. These features can be inherent features of the surrounding area, such as patterns in the ground. By improving the scan information via location information, it is possible to determine absolute distances, i.e., distances not distorted by the tilt of the capture unit, which can then be used to determine the location by means of a reference (e.g., by comparison with a database). Attached Figure Description

[0041] Examples according to the invention will then be described in more detail with reference to the accompanying drawings. Regarding the illustrated diagrams, it should be noted that the illustrated functional blocks should be understood as elements or features of the apparatus according to the invention and corresponding method steps of the method according to the invention, and the corresponding method steps of the method according to the invention can be derived therefrom, wherein:

[0042] Figure 1 A schematic side view of a device according to an embodiment of the present invention is shown;

[0043] Figure 2 A schematic side view of an apparatus according to an embodiment of the present invention is shown, wherein the apparatus is configured as a vehicle and includes a capture unit and a position capture unit;

[0044] Figure 3a A schematic side view of a suspension wheel segment in its intermediate position according to an embodiment of the present invention is shown;

[0045] Figure 3b An example of a downward deflection state is shown according to an embodiment of the present invention. Figure 3a A schematic side view of the suspension wheel section;

[0046] Figure 3c An example of an upward deflection state according to an embodiment of the present invention is shown. Figure 3a A schematic side view of the suspension wheel section;

[0047] Figure 4 A flowchart of a method according to an embodiment of the present invention is shown;

[0048] Figure 5a A schematic side view of another suspension wheel segment in a middle position is shown according to an embodiment of the present invention;

[0049] Figure 5b An example of a downward deflection state is shown according to an embodiment of the present invention. Figure 5a A schematic side view of another wheel segment with suspension;

[0050] Figure 5c An example of an upward deflection state according to an embodiment of the present invention is shown. Figure 5a A schematic side view of another wheel segment with suspension;

[0051] Figure 6 A schematic diagram illustrating potential perspective distortions in scanned information is shown, which are addressed through embodiments of the present invention; and

[0052] Figure 7 A schematic side view of a suspension wheel segment according to an embodiment of the present invention is shown, the wheel segment having wheel swing arms with opposed suspension. Detailed Implementation

[0053] Before describing embodiments of the invention in more detail below with reference to the accompanying drawings, it should be noted that elements, objects and / or structures that are identical or functionally identical, or have the same effect, are provided with the same or similar reference numerals in different drawings, such that the descriptions of these elements shown in different embodiments may be interchangeable or applicable to each other.

[0054] Figure 1 A schematic side view of an apparatus according to an embodiment of the present invention is shown. Figure 1An apparatus 100 is shown with a processing unit 110 configured to obtain scan information 120a of a two-dimensional scan 120b of a surface 130, and further obtain position information 120c (e.g., angle information α) indicating the tilt (e.g., angle α) of a capture unit 120 relative to the surface 130, which provides the two-dimensional scan 120b. The position information can indicate the tilt of the scan information 120a relative to the surface obtained during scan 120b. For example, the position information 120c can indicate which position or tilt the capture unit 120, optionally part of the apparatus 100, includes at that point in time. Furthermore, the processing unit 110 is configured to evaluate the scan information 120a using the position information 120c regarding the positioning of the capture unit 120 relative to the surface 130.

[0055] In this scenario, for example, the capture unit 120 may be part of a drone or a mobile robot navigating on the ground 130. The capture unit 120 may include a camera and / or a laser distance sensor array. Furthermore, the capture unit may be a surface scan camera or a line scan camera, but may also be equipped with surface scanning for different, preferably optical, methods such as radar (radio detection and ranging) or LiDAR (light detection and ranging).

[0056] Tilt of the capture unit 120 may occur due to movement and / or acceleration of the capture unit 120, such as due to the deflection of the vehicle including the capture unit 120, for example when traveling through a curve or when increasing or decreasing speed relative to the surface 130. For example, this can prevent the scan 120b of the surface 130 from being orthogonal or perpendicular to the surface 130, such that the scan information 120a includes perspective distortion due to tilt. By providing position information 120c, such as information about angle α, this perspective distortion can be taken into account or at least partially compensated for in the evaluation of the scan information 120a.

[0057] This allows for improved determination of features in the surrounding area, for example, by correcting distortion using location information 120c to determine the distance and location of inherent features of the surrounding area that may be contained in the scan information 120a. Through this form of classification of the surrounding area, such as mapping, the localization of the capture unit 120 can be performed, for example, based on prior information, by detecting features or feature clusters, such as arranging multiple features in a specific pattern with specific distances between them. By compensating for tilt using location information, location can be determined using features that are not robust to perspective distortion or are not robust at all (e.g., known QR codes). In this way, a variety of features can be used, making localization more flexible.

[0058] Figure 2A schematic side view of an apparatus according to an embodiment of the present invention is shown, wherein the apparatus is configured as a vehicle and includes a capture unit and a position capture unit. Figure 2 An apparatus 200 configured as a vehicle (e.g., a mobile robot platform) is shown, having a processing unit 110, a capture unit 120, and a position capture unit 210. The vehicle 200 includes wheel segments 220 with suspension. Figure 2 As shown, not all wheel segments need to have suspension; vehicle 200 also includes wheel segments 230 without suspension. It should be noted that only one wheel segment 220 with suspension is shown in the side view. Furthermore, all wheel segments may have suspension. Also, the wheel segment with suspension does not necessarily have to be located at one end of vehicle 200; the illustration of a wheel segment with suspension located on one side of the vehicle is merely illustrative. Here, wheel segment 220 with suspension is shown in an outwardly deflected state, for example, due to acceleration of device 200 in the x-direction (oriented towards the negative x-direction). Figure 2 The position acquisition unit 210 is shown configured with an optional central sensor element 2101. Alternatively or additionally, the position acquisition unit 210 may include sensor elements 2102, each arranged at a suspension wheel segment 220. In this case, for example, the sensor elements may include a gyroscope (angular velocity sensor), an ultrasonic sensor, a laser distance sensor, or a sensor array, as well as an incremental encoder.

[0059] In this configuration, processing unit 110 is configured to obtain scan information 120a of a two-dimensional scan 120b of surface 130, and position information 120c, namely position information 120c1 from central sensor 2101 and / or position information 120c2 from sensor element 2102, indicating the tilt (e.g., α) of capture unit 120 relative to surface 130, which provides scan 120b. In this configuration, processing unit 110 may also be configured to obtain position information 120c including at least two measurements from sensor element 210, wherein these measurements include at least a portion of information regarding the tilt of capture unit 120.

[0060] For a vehicle 200 having only two suspension wheel segments 220, such as a front axle with two suspension wheel segments 220 and a rear axle without suspension having at least one suspension wheel segment 230, at least two measurements can be provided by at least two sensor elements 2101, each sensor element being arranged at the suspension wheel segment 220 (e.g., at least one measurement per sensor element 2101). In this case, position information of the vehicle 200 can be provided due to the evaluation of at least two measurements and, for example, a known distance from at least one unsustainable wheel segment 230 to surface 130, which is constant due to the absence of suspension. Therefore, position information of the capture unit 120 can also be provided.

[0061] When the vehicle 200 has at least three suspension wheel segments 220, such as two suspension wheel segments 220 at the front axle and two suspension wheel segments 220 at the rear axle, or two suspension wheel segments 220 at the front and rear axles respectively, the processing unit 110 can be configured to obtain position information 120c including at least three measurements, wherein the three measurements include at least a portion of information regarding the tilt of the capture unit 120. The at least three measurements can be provided by at least three sensor elements 2101, each sensor element arranged at one of the suspension wheel segments 220 (e.g., each sensor element 2101 has at least one measurement). Information regarding the tilt of the vehicle 200 can then be determined using the at least three measurements, and thus the capture 120 can be determined.

[0062] In both cases, alternatively or additionally, at least two or at least three measurements may be provided by a central sensor element 2102, which may capture measurements relative to several measurement axes, i.e., relative to different spatial orientations.

[0063] Therefore, the processing unit 110 can use the position information 120c to manipulate the scan information 120a in order to obtain the manipulated scan information and use it relative to the positioning of the capture unit 120, and in this case, also relative to the positioning of the vehicle 200.

[0064] In this case, manipulation may include compensation, or at least partial compensation, for perspective distortion of the scan information 120a. For example, the scan information 120a may be distorted due to the tilt (e.g., angle α) of the capture unit 120 relative to the surface 130, which can be compensated for by the processing unit 110 using the position information 120c. In other words, for example, the scan information 120a may be equalized. For this purpose, for example, correction of the scan information 120a may be performed by means of the processing unit 110.

[0065] according to Figure 2 The capture unit 120 includes a predetermined relative position with respect to at least two suspension wheel segments 220. Thus, for example, when using sensor element 2102, the tilt of the capture unit 120 can be calculated by evaluating the position information 120c2, taking into account the geometric distance and angle between sensor element 2102 and the capture unit 120.

[0066] In this configuration, sensor element 2102 can generate measurements related to the suspension travel of wheel segment 220, such that the position information 120c2 regarding wheel segment 220 includes position information 120c regarding the tilt of the capture unit 120 relative to surface 130, due to the predetermined relative positions of the capture unit 120 with respect to at least two suspended wheel segments 220. In this configuration, the arrangement of sensor element 2102 can be chosen such that a large positional change of sensor element 2102 occurs when wheel segment 220 deflects downwards or upwards, for example, so that small tilts and positional changes of the capture unit 120 can also be detected and thus compensated. Regarding oscillations (or vibrations), the sensor element can therefore be positioned with large amplitude.

[0067] In the following text, based on Figure 3a , Figure 3b and Figure 3c An example of the inventive state of the suspension-equipped wheel segment is described in more detail. In the embodiment, Figure 3a , Figure 3b and Figure 3c It can show the previously explained (e.g., based on) Figure 2 ) 220 wheelset with suspension and Figures 3a to 3c Detailed views of sensor elements in the form of rotary encoders in different states. Figure 3a A schematic side view of the suspension wheel section in its middle position is shown. Figure 3b The example shown is in a downward deflection state. Figure 3a A schematic side view of the suspension wheel section, and Figure 3c The example shown is in an upward deflection state. Figure 3a A schematic side view of a wheel segment with suspension.

[0068] Figures 3a to 3c A suspension wheel segment 220 is shown, including a wheel swing arm 310, a suspension 320, and a rotary encoder 330. Furthermore, the wheel segment 220 includes a pivot point 340, the deflection of which relative to the suspension 320 forms the axis of rotation of the wheel swing arm 310. For example, by means of a predetermined relative position of the capture unit 120 with respect to the wheel segment 220, the rotary encoder 330 can indicate at least partial information about the position of the capture unit (e.g., a camera) relative to the surface 130. For example, each of the rotary encoders 330 can indicate a local tilt or rotation. For example, using at least two (e.g., together with geometrically known information, such as the distance from the unsustainable wheel segment 230 to the surface 130) or at least three spaced-apart rotary encoders 330 or other sensor elements 210, taking into account the geometric arrangement or position, such as by considering the plane subjected to tilt that may be determined via three points in space, this partial information can be used to determine, for example, the degree of tilt at another location of the capture unit 120.

[0069] In other words, the tilt can be locally determined at the location of the capture unit 120, for example, by using a single sensor element 210. When positioning several distributed sensor elements 210, they can be evaluated against each other by taking into account their distribution geometry.

[0070] Figure 3a The starting position of the vehicle, including wheel segment 220, is shown, with the springs of suspension 320 in the middle position, so that image compensation is not required, for example, due to downward or upward deflection. Figure 3b The diagram illustrates the vehicle's state, where the springs of suspension 320 are deflected downwards, for example, causing the illustrated area of ​​the vehicle to be lower than other areas, and the rotary encoder 330 captures the deviation. Figure 3a The tilt information of the reference position. The capture unit (e.g., camera) can be compared to... Figure 3a (For example, see) Figure 5b The wheel 130 is closer to the ground, for example, when it is arranged away from the pivot point 340 at the corner of the vehicle or the wheel section 220 or the wheel arm 310 of the vehicle. Figure 3c The vehicle's state is shown, where the springs of suspension 320 are deflected upwards, for example, causing one area of ​​the vehicle to be higher than others, and rotary encoder 330 captures other different tilt information. At this point, refer to... Figure 2 For example, in this case, the capture unit can be located further away from the ground (see example...). Figure 5c For example, when it is arranged as a pivot point far from the corner of the vehicle, or the wheel section 220 of the vehicle, or the wheel swing arm 310.

[0071] Figures 3a to 3c The purpose is to illustrate the basic idea of ​​an embodiment of the invention, namely, to obtain precise information, for example, about the deflection of each wheel of a vehicle. To this end, the embodiment provides a rotary encoder 330 attached to the control arm 310 of the wheel segment and / or wheel suspension.

[0072] Suspension travel can be determined via the angle at pivot point 340. The vehicle's position in space can be precisely determined, for example, by a combination of measurements from different wheels, or in other words, by a combination of measurements from different rotary encoders 330 of the suspension wheel segments 220. In embodiments, it may be advantageous to provide at least three measurement points to enable precise determination of the position of the plane in space, and thus, the position of, for example, the capture unit, and therefore the vehicle's position. Images can be transformed so that they appear to have been captured from another position in space via an image processing method known as correction. Using this technique, measurements from the capture unit, for example, in the form of an optical sensor, can be equalized, i.e., in the end, for example, after equalization or correction, they appear to have been captured in a non-deflection state.

[0073] While some embodiments provide for the use of what is generally referred to as image correction, the apparatus and methods of the present invention are not limited to image-specific applications. Within the context of the inventive concept, positional information can be used to manipulate other forms of scan information, i.e., to equalize it. Therefore, for example, the method of the present invention can also equalize scan information or measurements from a laser distance sensor array. In one-dimensional scanning, or in other words, in the one-dimensional case, the measurement or scan can be interpreted as image lines.

[0074] Furthermore, it should be noted that the vehicle's tilt position or the tilt angle of the capture unit can be determined via different types of distance sensors, such as ultrasonic sensors or laser distance measurement or laser distance sensors, rather than... Figures 3a to 3c The rotary encoder 330 shown is shown.

[0075] Alternatively, the suspension travel can be determined directly at, for example, the spring / damper unit of wheel segment 220. However, in this case, determining the suspension travel using the sensor element 2102 at the wheel control arm 310 of wheel segment 220 has the advantage of being achievable with less effort and cost. Furthermore, the measurement of the rotation angle of the wheel control arm 310 of wheel segment 220, for example, using the angle measurement of the rotary encoder 330, can have smaller errors and / or tolerances.

[0076] Figure 4 A flowchart of a method according to an embodiment of the present invention is shown. Method 400 includes a step 410 of obtaining scan information of a two-dimensional scan of a surface, a step 420 of obtaining position information indicating the tilt of a capture unit relative to the surface, the capture unit providing the two-dimensional scan, and another step 430 of evaluating the scan information using the position information regarding the positioning of the capture unit relative to the surface. It should be noted that steps 410 and 420 can be performed in any order and / or simultaneously, as both steps provide input to step 430 and may be independent of each other.

[0077] Optionally, method 400 may include manipulating scan information using position information to obtain manipulated scan information. To take the manipulated scan information into account, step 430 may include evaluating the manipulated scan information with respect to the positioning of the capture unit relative to the surface.

[0078] Based on Figures 5a to 5c The location of the capture unit is described in more detail when the suspension state of the wheel section with suspension changes. Figures 5a to 5c A suspension wheel segment is shown, comprising a wheel swing arm 310 and a capture unit configured as a camera 510. Figures 5a to 5cIn this configuration, camera 510 is fixedly connected to the housing, and thus to, for example, wheel swing arm 310, which is the case in reality or in many practical implementations. That is, camera 510 may not be pivotally supported, such that it is no longer oriented perpendicular to the ground when the swing arm 310 is tilted, or due to a change in suspension state, it includes variable orientation or tilt relative to the ground.

[0079] The wheel segment also includes a pivot point 340, which, relative to the deflection of the suspension, forms the axis of rotation of the wheel control arm 310. Figures 3a to 3c Conversely, for the sake of simplicity, the suspension is not explicitly shown except for the impact point 520 at wheel spring 310. Here, Figures 5a to 5c It can also form Figures 3a to 3c A simplified illustration, in which the capturing unit is also shown as a camera 510. For simplicity, something similar is not explicitly shown. Figures 3a to 3c A rotary encoder; however, according to the present invention, it can exist. Furthermore, Figures 5a to 5c Schematic images 530a-c of scans based on the capture unit (i.e., camera 510) are shown, depending on the corresponding suspension state of the wheel segment.

[0080] Similar to Figure 3a , Figure 5a A schematic side view of the suspension wheel segment in its intermediate position is shown. On a flat surface, camera 510 is positioned parallel to the surface, allowing for the capture of a distortion-free image 530a.

[0081] Similar to Figure 3b , Figure 5b The example shown is in a downward deflection state. Figure 5a A schematic side view of a suspension wheel segment. With its downward tilt, camera 510 is closer to the ground and includes a tilt angle relative to the ground. For example, when observing a single swing arm 310, the maximum number of two degrees of freedom can change, i.e., if camera 510 is not fixed at the center of the axis or pivot point 340, the distance to the ground and the angle of camera 510 (e.g., the viewing angle of camera 510 relative to the ground) will change. In the case of a structure with several swing arms 310 (e.g., a multi-axle vehicle with suspension), and fixed to a housing (e.g., when camera 510 is fixed to a housing that is in turn fixedly connected to the wheel swing arms 310), the maximum number of three degrees of freedom can change, i.e., the roll and pitch angles of camera 510 and the distance to the ground surface (e.g., the ground) will change. In short, for example, specifically regarding... Figure 5bOr, for image 530b, if the wheel swing arm 310 is tilted, the camera 510 is also tilted relative to the ground or captured at an angle. Therefore, image 530b is distorted compared to image 530a; for example, a trapezoidal image 530b is created from rectangular image 530a.

[0082] Similar to Figure 3c , Figure 5c The example shown is in an upward deflection state. Figure 5a A schematic side view of the suspension wheel segment. Due to its upward tilt, camera 510 is positioned further away from the ground and has an angle of inclination relative to the ground. Therefore, image 530c is also distorted compared to image 530a.

[0083] Based on Figure 6 The potential distortions in the scanned information (e.g., images 530a-c) are explained in more detail. Even though these effects are shown individually, they can also occur in combination, which is not contrary to the embodiments described herein. Similar to... Figure 5a , Figure 6 Reference scan information 610 is shown, for example, which is captured by a camera 510 fixed to the wheel swing arm in the middle position.

[0084] Increasing the distance 620 from the captured image to the surface can result in a reduction in the image portion of the reference scan information 610, meaning that the actual captured object area is only a portion of the complete image. This is illustrated by the resulting scan information 620a.

[0085] Reducing the distance 630 from the captured image to the surface can result in magnification of the image portion of the reference scan information 610, i.e., capturing only a portion of the reference scan information 610. This is illustrated by the resulting scan information 630a.

[0086] In this case, the tilt 640 of the capture unit relative to the first axis may cause distortion of the image portion of the reference scan information 610 relative to the first axis. This is illustrated by the resulting scan information 640a. The tilt 650 of the capture unit may also occur relative to a second axis that may be perpendicular to the first axis. Thus, for example, one of the axes can be determined at least partially by pivot point 340, which can be understood as the axis of rotation in the three-dimensional body based on the illustrated two-dimensional side sectional view. The result of the tilt of the second axis is exemplarily shown by the resulting scan information 650a.

[0087] Taking into account location information, the modified scan information 620a, 630a, 640a and / or 650a can be corrected individually or in combination with the embodiments described herein, wherein the evaluation of the scan information described herein by means of exemplary corrections may include equalization and / or scaling.

[0088] For example, in this case, tilt relative to the first axis and / or the second axis can be produced by the roll and / or pitch angle of the camera relative to the ground, as previously described. This type of tilt, along with changes in distance, can occur, for example, during acceleration or deceleration and / or when a vehicle with suspension is turning. Furthermore, it should be noted that distortion and / or any superposition of magnification and / or reduction of the scanned information is possible, particularly for vehicles with multiple suspension wheel segments. Moreover, the positioning of the camera 510 at the wheel swing arms 310 is considered merely as an example illustrating the inventive concept. In the case of a vehicle with several suspension wheel segments, the camera may also be located at the center of the vehicle and need not be attached to one of the individual wheel swing arms 310. Through the deflection of the individual wheel segments, superposition of the aforementioned distortions in the form of changes in distance and / or tilt may occur for the camera 510, or for the images captured by the camera, for example, due to the connection between the individual wheel swing arms and the vehicle chassis to which the camera can be attached.

[0089] Figure 6 The invention demonstrates that evaluating scan information according to the invention using positional information, such as correcting an image captured by camera 510 using angular information from a rotary encoder, can have significant advantages, for example, in compensating for unwanted distortions. While using a vehicle with suspension may be essential to ensure good driving characteristics, this can amplify the problem of scan information distortion due to the extended driving dynamics. Because of the distortion of scan information, localization, for example, based on features of the surrounding area, may be difficult or even impossible, as features may not be detected due to the distortion. This is why the inventive concept of using positional information, for example, for image correction, can provide significant advantages.

[0090] Figure 7 A schematic side view of a suspension wheel segment according to an embodiment of the present invention is shown, the wheel segment having a wheel swing arm with opposed suspension. The wheel swing arm 310 has a pivot point 340 and is opposedly suspended 20 relative to a load 710 having weight G via opposed suspension 7. In the embodiment, according to Figures 3a to 3c The rotary encoder can be positioned relative to pivot point 340 on one side of the opposed suspension 720, i.e., on the right side in the image. When strain is generated on the control arm 310 via load 710, the suspension state of the opposed suspension 720 can change, potentially causing the control arm 310 to tilt. This tilt can be detected by the rotary encoder.

[0091] In this scenario, for example, the vehicle chassis may form a load, wherein the chassis includes, for example, a capture unit and is loaded or unloaded. According to the invention, even if the vehicle is symmetrically loaded such that all wheel segments of the vehicle suspension deflect upwards and downwards in the same manner, tilt information can still be captured by a rotary encoder at the wheel control arm due to the tilt of the wheel control arm 310, due to the load 710 and the opposed suspension 720. For example, the tilt angle of the capture unit can be calculated by combining and evaluating the tilt information from the rotary encoder, such as combining and evaluating the angle of the wheel control arm 310 relative to the pivot point 340.

[0092] For example, if all rotary encoders on different wheel segments have the same tilt angle of the wheel swing arm 310, the parallel orientation of the capture unit relative to the ground can be inferred. Simultaneously, the suspension travel of each wheel segment can be calculated using the tilt angle of each rotary encoder and, for example, known geometric parameters of the wheel segment, thus allowing the inference of the capture unit's orientation relative to the ground (e.g., based on...). Figure 6 The distance changes in the image (620a / 630a). This allows for manipulation of the scanned information, such as scaling.

[0093] Similarly, it should be noted that any combination of distance and tilt variations or distortions can be detected or compensated for in this manner. Furthermore, it should be noted that... Figure 7 Only an example of the configuration of the wheel segment according to the invention is shown, and the load 710 and the opposed suspension 720 can be interchanged, similar to positioning the rotary encoder on one side or the other side of the pivot point 340 on the swing arm 310.

[0094] Conclusions and further comments

[0095] In summary, embodiments of the present invention provide the possibility of compensating for perspective distortion. In this way, scanning information from the capture unit (e.g., measurement data from optical sensors) can be used in methods such as positioning methods, which are not robust to this type of distortion, compared to QR codes. This can be interesting or advantageous, particularly for image sensors; however, the devices and methods according to the invention are not limited to the use of image sensors. For example, in particular, the inventive concept can simplify the use of optical sensors for positioning, for example, in applications where strong deflection is expected. Alternatively or additionally, the inventive concept can increase the accuracy or desired accuracy of positioning, for example, of the capture unit or vehicle.

[0096] An embodiment of the invention determines the position of a vehicle in space based on deflection, for example by using a rotary encoder at the wheel arm of a wheel segment (e.g., wheel suspension).

[0097] The technical application field of the present invention can be the positioning of automatic or autonomous vehicles or robots using optical sensors.

[0098] In embodiments of the invention, the processing unit can be implemented using any suitable circuit structure, such as a microprocessor circuit, an ASIC circuit, a CMOS circuit, etc. In examples, the processing unit can be implemented as a combination of hardware structure and machine-readable commands. For example, the processing unit may include a processor or a memory device storing machine-readable commands that provide the functionality described herein and, if executed by the processor, cause the execution of the methods described herein. In examples, the memory device can be implemented using any suitable memory device, such as ROM, PROM, EPROM, EEPROM, flash memory, FRAM (ferroelectric RAM), MRAM (magnetoresistive RAM), or phase-change RAM.

[0099] All lists of materials, environmental impacts, electrical properties, and optical properties presented in this article are intended to be exemplary, not exhaustive.

[0100] Although some aspects have been described in the context of the device, it should be understood that these aspects also represent descriptions of the corresponding methods, and therefore, blocks or structural components of the device should also be understood as corresponding method steps or features of method steps. Similarly, aspects described in the context of method steps or as method steps also represent descriptions of corresponding blocks, details, or features of the corresponding device. Some or all of the method steps can be executed using hardware devices, such as microprocessors, programmable computers, or electronic circuits. In some embodiments, some or several of the most important method steps can be executed by such a device.

[0101] Depending on the specific implementation requirements, embodiments of the present invention can be implemented in hardware or software. Implementation is possible using digital storage media such as floppy disks, DVDs, Blu-ray discs, CDs, ROMs, PROMs, EPROMs, EEPROMs, or flash memory, hard disks, or any other magnetic or optical storage device storing electronically readable control signals (which can cooperate with a programmable computer system to execute the corresponding methods). This is why digital storage media can be computer-readable.

[0102] Therefore, some embodiments of the invention include a data carrier comprising electronically readable control signals capable of cooperating with a programmable computer system to perform any of the methods described herein.

[0103] Typically, embodiments of the present invention can be implemented as a computer program product having program code that, when run on a computer, effectively executes any method.

[0104] For example, program code can also be stored on a machine-readable medium.

[0105] Other embodiments include a computer program for performing any of the methods described herein, the computer program being stored on a machine-readable medium.

[0106] In other words, an embodiment of the method of the present invention is therefore a computer program that, when run on a computer, has program code for performing any of the methods described herein.

[0107] Therefore, another embodiment of the method of the present invention is a data carrier (or digital storage medium or computer-readable medium) on which a computer program for performing any of the methods described herein is recorded. The data carrier, digital storage medium, or computer-readable medium is generally tangible or non-volatile.

[0108] Therefore, another embodiment of the method of the present invention represents a data stream or signal sequence for a computer program to perform any of the methods described herein. The data stream or signal sequence may be configured to be transmitted, for example, via a data communication link (e.g., via the Internet).

[0109] Another embodiment includes a processing unit, such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.

[0110] Another embodiment includes a computer on which a computer program is installed for performing any of the methods described herein.

[0111] Another embodiment of the invention includes an apparatus or system configured to transmit to a receiver a computer program for performing at least one of the methods described herein. For example, the transmission may be electronic or optical. For example, the receiver may be a computer, mobile device, storage device, or similar device. For example, the apparatus or system may include a file server for transmitting the computer program to the receiver.

[0112] In some embodiments, a programmable logic device (e.g., a field-programmable gate array, FPGA) may be used to perform some or all of the functions of the methods described herein. In some embodiments, the field-programmable gate array may cooperate with a microprocessor to perform any of the methods described herein. Typically, in some embodiments, these methods are performed by any hardware device. The hardware device may be any general-purpose hardware, such as a computer processor (CPU), or it may be hardware dedicated to the method, such as an ASIC.

[0113] For example, the apparatus described herein can be implemented using hardware devices, or using a computer, or using a combination of hardware devices and a computer.

[0114] The apparatus described herein or any component thereof may be implemented, at least in part, in hardware and / or software (computer program).

[0115] For example, the methods described in this paper can be implemented using hardware devices, computers, or a combination of hardware devices and computers.

[0116] The methods described herein, or any component thereof, may be implemented, at least in part, by execution and / or software.

[0117] The above embodiments are merely illustrative of the principles of the present invention. It should be understood that others skilled in the art will recognize modifications and variations in the arrangements and details described herein. This is why the present invention is limited only by the scope of the appended claims, and not by the specific details given herein through the description and discussion of embodiments.

Claims

1. An apparatus (100, 200) comprising: The processing unit (110) is configured to Two-dimensional scan of surface (130) (120) b ) scan information (120 a );as well as The positional information (120) of the inclination of the indicated capture unit (120, 510) relative to the surface (130) is obtained. c The capture unit provides the two-dimensional scan (120). b ); Using the location information (120) c Regarding the scan information (120) a ) Perform the scan on the information (120) a The correction of the capture unit (120, 510) and its positioning relative to the surface (130) are evaluated; and The distance and position of the feature are determined, and information about the distance and position of the feature is included in the scanning information. This information also includes information about the position of the capture unit on the surface, which is then compared with a database to determine the position of the capture unit.

2. The apparatus of claim 1, wherein the scanning information is based on an optical scan of the surface by means of the capturing unit.

3. The apparatus of claim 1, wherein the capturing unit comprises at least one of the following: a camera; a laser distance sensor array; an area scanning camera; a line scanning camera; and a unit configured to scan the surface by means of radio detection and ranging RADAR or light detection and ranging LiDAR.

4. The apparatus of claim 1, wherein the processing unit is configured to obtain uniform scan information through the correction, and to perform an evaluation on the uniform scan information for pattern detection to extract information about the inherent features of the surface, and to infer the position of the capture unit by comparing it with a database.

5. The apparatus of claim 1, wherein the processing unit is configured to perform feature extraction of the surface from the scan information obtained by the correction, and / or to perform evaluation of the features with respect to the shape of the features and / or the relative position of the features with respect to each other, using manipulation of the scan information obtained by the correction.

6. The apparatus (100, 200) according to claim 1, wherein the processing unit (110) is configured to Using the location information (120) c Manipulate the scan information (120) a In order to obtain manipulated scan information; and Regarding the positioning of the capture unit (120, 510) relative to the surface (130), an evaluation of the manipulated scan information is performed.

7. The apparatus (100, 200) according to claim 1, wherein the capturing unit (120, 510) includes a camera (510) and / or a laser distance sensor array.

8. The apparatus (100, 200) according to claim 1, wherein the processing unit (110) is configured to use the location information (120) c ) at least partially compensate for the scan information (120) a Perspective distortion.

9. The apparatus (100, 200) according to claim 1, wherein the apparatus (100, 200) includes components configured to capture the location information (120). c The location capturing unit (210) of the device (100, 200) includes the capturing unit (120, 510).

10. The device (100, 200) according to claim 9, wherein the device (100, 200) is a vehicle having at least two suspension wheel segments (220), and wherein the capture unit (120, 510) includes a predetermined relative position with respect to the at least two suspension wheel segments (220).

11. The apparatus (100, 200) according to claim 10, wherein the position capturing unit (210) comprises at least two sensor elements (2102), wherein each of the at least two sensor elements (2102) is disposed at one of the at least two suspended wheel segments (220); and The processing unit (110) is configured to receive measurements related to the suspension travel of the wheel segment (220) from each of the at least two sensor elements (2102), and to calculate the position information (120) based on the combination of the measurements. c ).

12. The apparatus (100, 200) according to claim 11, wherein, Regarding the oscillation, the at least two sensor elements (2102) are arranged at the locations on the wheel segment (220) where the amplitude value is large.

13. The apparatus (100, 200) according to claim 11, wherein the processing unit (110) is configured to: Receive measurement values ​​from each of the at least two sensor elements (2102); and Based on the measurements, information about the suspension travel of at least the two wheel segments (220) is determined, wherein the information about the suspension travel includes information about the distance from the respective wheel segment to the surface (130), the distance being variable by the suspension of the wheel segment (220), and the information about the suspension travel therefore includes information about the tilt of the capture unit (120, 510) relative to the surface (130).

14. The apparatus (100, 200) according to claim 13, wherein the at least two sensor elements (2102) include rotary encoders.

15. The apparatus (100, 200) according to claim 1, wherein the apparatus (100, 200) is a vehicle (200) for a sorting system.

16. The apparatus (100, 200) according to claim 15, wherein the vehicle (200) is configured to drive autonomously.

17. The apparatus (100, 200) according to claim 1, configured as a vehicle; The vehicle includes the capture unit (120, 510), which includes at least one of the following: a camera; a laser distance sensor array; an area scan camera; a line scan camera; and a unit configured to scan the surface by means of radio detection and ranging RADAR or light detection and ranging LiDAR; The capturing units (120, 510) are fixedly connected to the housing of the vehicle and arranged at a predetermined relative position to the housing, and the capturing units include a change in direction or inclination relative to the surface (130) in the event of a change in the deflection of the wheel segments of the vehicle. The vehicle mentioned above includes one configured to capture the location information (120). c The position capture unit (210) of the ) The position acquisition unit (210) includes a central sensor element (2101) configured as a gyroscope; or The position capturing unit (210) includes at least two spaced-apart sensor elements (210) and is configured to determine the tilt of the capturing unit (120) using known information caused by geometry and taking into account the geometric arrangement or position. or The position capturing unit (210) includes at least three spaced-apart sensor elements (210) and is configured to determine the tilt of the capturing unit (120) taking into account geometric arrangement or position. The sensor elements include a distance sensor for determining the distance to the surface (130) and / or a rotary encoder for indicating local tilt or rotation.

18. A method (400) comprising: Two-dimensional scan of (410) surface (130) (120) was obtained. b ) scan information (120 a ); Obtain (420) positional information (120) of the tilt of the indication capture unit (120, 510) relative to the surface (130). c The capture unit provides the two-dimensional scan (120). b ); By using the positional information (120, 510) of the capturing unit (120, 510) relative to the surface (130), c To evaluate the scan information (120) mentioned in (430) a ), and based on the location information (120) c ) to perform the scan on the information (120) a The correction of ) and The distance and position of the feature are determined, and information about the distance and position of the feature is included in the scanning information. This information also includes information about the position of the capture unit on the surface, which is then compared with a database to determine the position of the capture unit.

19. The method (400) according to claim 18, wherein the method further comprises: By using the location information (120) c Manipulate the scan information (120) a In order to obtain manipulated scan information; as well as The manipulated scanning information is evaluated based on the positioning of the capture unit (120, 510) relative to the surface (130).

20. A computer program product having program code, which, when run on a computer, performs the method (400) according to claim 18.

21. A computer-readable medium storing program code that, when run on a computer, performs the method (400) according to claim 18.

Images