3D Optical Position Marker for Long-Range Robot Detection
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Solution Overview
Problem
Existing robotic vehicle position markers are not effectively detectable in outdoor environments with changing lighting conditions and large distances between the camera and the robot, especially at varying angles.
Innovation Solution
A two-dimensional active marker surface with reflecting and light-emitting partial surfaces, combined with a three-dimensional extension and a recess that closes off a cavity, providing high contrast and adaptability to different lighting conditions, and optionally featuring a light-absorbing inner surface to minimize reflections and enhance detectability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a two-dimensional marker surface with reflective and absorbing sub-areas is used, then the marker is detectable under various lighting conditions, but the detectability deteriorates at large distances and varying angles in outdoor environments
Solution Approach 1:
The patent transitions from a two-dimensional marker surface to a three-dimensional marker structure by adding depth through recesses and protrusions. This dimensional change creates multiple reflective surfaces at different depths and angles, enabling the marker to maintain detectability and measurement precision across varying viewing angles and distances in outdoor environments.
Solution Approach 2:
The marker surface is divided into sub-areas with different optical properties (reflective and absorbing regions). This local differentiation of optical characteristics allows the marker to maintain contrast and detectability under varying lighting conditions while the three-dimensional structure ensures consistent detection from multiple angles.
2Length of stationary object
If the marker surface has large contrast areas for distance recognition, then the marker remains recognizable at great distances, but the marker structure becomes more complex
Solution Approach 1:
Instead of simply increasing the size of two-dimensional contrast areas, the patent adds a third dimension by creating recesses and protrusions. This allows the marker to maintain compact dimensions while achieving long-distance recognizability through depth variations that create multiple reflective surfaces visible from different angles.
Solution Approach 2:
The three-dimensional structure creates multiple optical copies or reflections of the marker pattern through its recessed and protruded surfaces. This multiplication of reflective surfaces enhances the marker's visibility distance without requiring a proportional increase in the physical size of the marker itself.
3Object-affected harmful factors
If a cavity is introduced below the marker surface to reduce reflections, then stray light detection is minimized, but the marker structure becomes more complex
Solution Approach 1:
The patent extracts or removes the problematic reflective surface by creating a cavity below the marker surface. This cavity isolates the marker's optical pattern from the ground or mounting surface, preventing stray light reflections from interfering with the marker detection while the cavity structure itself remains relatively simple.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution ensures robust and reliable detection of the robotic vehicle's position and orientation under diverse lighting conditions, maintaining high visibility and accuracy even at great distances and angles, thereby improving outdoor navigation and control.
Implementation Method 1
the marker surface has one or more reflective or light-emitting sub-areas and one or more essentially non-reflective or light-absorbing sub-areas
Implementation Method 2
the marker surface has one or more reflective or light-emitting sub-areas
Implementation Method 3
one or more essentially non-reflective or light-absorbing sub-areas, wherein the position marker has a three-dimensional extent and one sub-area is designed in the form of a recess
Data Source
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AI summary
The invention relates to a position marker (1) for optical detection by means of an optical recording sensor, in particular of a camera (7), said position marker having a 2-dimensional effective marker surface (4) with portions of different optical properties. The invention also relates to a robot vehicle (5), which is movable on a surface, for receiving remote control data from a stationary camera system which is equipped with at least one camera (7), said robot vehicle having a position marker (1) for assisting position detection of the robot vehicle (5) on the surface (6). The invention also relates to an arrangement of a robot vehicle (5) and a stationary camera system, in which the robot vehicle (5) is configured to receive remote control data and is movable on a surface (6), and the stationary camera system has at least one camera (7), the camera (7) being arranged in an elevated position relative to the robot vehicle (5) and being configured to detect the position of the robot vehicle (5) and to transmit control data to the robot vehicle (5) for the purpose of remote control, the robot vehicle (5) having a position marker (1), with the aid of which position detection of the robot vehicle (5) on the surface (6) can be achieved. According to the invention, the effective marker surface (4) has a reflective portion (2) and a substantially non-reflective portion in the form of a recess (3).