AGV Localization Measurement Using Optical Markers and Light Spots
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Solution Overview
Problem
There is no effective means to measure the movement accuracy of autonomous mobile vehicles such as AMR or AGV after purchase, relying solely on manufacturer-provided specifications, which lack verification of true accuracy.
Innovation Solution
An accuracy measurement kit comprising markers, light beam devices, and image capture devices, along with a calculating device, to determine X-axis and Y-axis offsets by capturing and processing images of light spots and reference patterns to generate measurement coordinates and offsets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If manufacturer specifications are used to determine movement accuracy, then information availability is improved, but measurement precision deteriorates because true accuracy cannot be verified
Solution Approach 1:
The patent introduces markers as intermediary objects that are placed on the autonomous mobile vehicle and the periphery. These markers serve as mediators between the vehicle's movement system and the measurement system, enabling indirect but precise measurement of movement accuracy through image capture and coordinate calculation, thereby resolving the contradiction between information availability and measurement verification.
Solution Approach 2:
The patent replaces traditional mechanical measurement systems with an optical-based measurement system using light beam devices, image capture devices, and calculating devices. This substitution enables non-contact, high-precision measurement of movement accuracy by capturing images of markers and computing position offsets, thus improving measurement precision while maintaining information availability.
2Measurement precision
If a measurement system is introduced to verify movement accuracy, then measurement precision is improved, but device complexity increases due to additional components
Solution Approach 1:
The patent segments the measurement system into distinct functional modules: markers for positioning, light beam devices for illumination, image capture devices for data acquisition, and calculating devices for processing. This segmentation allows each component to perform its specific function independently, making the overall complex system manageable and easier to implement while achieving high measurement precision.
Solution Approach 2:
The patent uses markers with reference patterns that create light spot images and reference pattern images in the captured image. By comparing the positions of these copied representations (light spot image center and reference pattern image center) in the image plane, the system achieves precise measurement of movement accuracy without requiring direct physical measurement of the vehicle's position.
3Measurement precision
If multiple measurement points are used to calculate offsets, then measurement precision is improved, but loss of time increases due to multiple measurements
Solution Approach 1:
The patent performs multiple measurements at different predetermined positions continuously by moving the autonomous mobile vehicle to each position and capturing images of markers. The calculating device processes all measurement coordinates from multiple positions to calculate average offsets, maintaining continuous measurement action throughout the process. This approach improves measurement precision through multiple data points while minimizing time loss by avoiding interruptions between measurements.
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
Enables precise measurement of autonomous mobile vehicle accuracy, allowing users to confirm compliance with manufacturer-specified tolerances and reduce the risk of collisions by adjusting movement paths.
Implementation Method 1
The at least one light beam device is configured to emit a light beam onto the at least one marker on the autonomous mobile vehicle located at the predetermined position so as to form a light spot on the at least one marker
Implementation Method 2
The image capture device is configured to be disposed on one of the autonomous mobile vehicle and the periphery of the predetermined position. The calculating device is configured to control the image capture device to capture the light spot and the at least one marker
Data Source
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AI summary
An accuracy measurement kit is provided and includes a marker (1), at least one light beam device (2), an image capture device (3), and a processing device (A3). The marker may be disposed on an autonomous mobile vehicle (A) and includes a reference pattern. The light beam device (2) is configured to emit a light beam to the autonomous mobile vehicle (A) located at a predetermined position so as to form a light spot (12) on the marker (1). The processing device (A3) is configured to capture the light spot (12) on the autonomous mobile vehicle (A) for generating a to-be-analyzed image (33, 34, 35, 36) and to obtain an offset of the autonomous mobile vehicle (A) in an X-axis direction and a Y-axis direction by processing a plurality of images of the to-be-analyzed image (33, 34, 35, 36) corresponding to the reference pattern and the light spot (12).