Autonomous Mobile Vehicle Accuracy Measurement Using AprilTag Offsets
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Solution Overview
Problem
Existing technologies lack a concrete means to measure the movement accuracy of autonomous mobile vehicles, such as AMRs and AGVs, with users relying solely on manufacturer-provided specifications, leading to uncertainties in actual performance.
Innovation Solution
An accuracy measurement method and device that calculates X-axis and Y-axis offsets using a light beam and image capture system to analyze markers like AprilTags or ArUco tags, employing regression calculations to determine offsets and improve measurement accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If no measurement system is implemented, then device complexity is reduced, but measurement precision is insufficient
Solution Approach 1:
The patent introduces markers (AprilTags or ArUco tags) as intermediary objects placed on the autonomous mobile vehicle. These markers serve as mediators between the vehicle and the measurement system, enabling precise tracking of the vehicle's position and movement without requiring complex sensors or measurement devices on the vehicle itself. The markers are captured by external cameras and processed through image recognition algorithms to calculate offset values.
Solution Approach 2:
The patent replaces complex mechanical measurement systems with an optical-based image processing system. Instead of using mechanical encoders, laser range finders, or other complex sensing equipment, the system uses standard cameras to capture images of markers, then uses image processing and coordinate transformation algorithms to determine the vehicle's position and movement accuracy.
2Reliability
If manual specification reliance is used, then measurement cost is reduced, but reliability is insufficient
Solution Approach 1:
The patent implements a feedback mechanism where the measured offset values between the vehicle's coordinate system and the marker's coordinate system are calculated and used to correct positioning errors. The system continuously captures marker images, calculates the offset, and uses this feedback information to verify and improve the reliability of the vehicle's movement accuracy, rather than relying on one-way manufacturer specifications.
3Measurement precision
If repeated measurements are performed, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent performs preliminary actions by pre-defining multiple measurement positions and orientations before actual measurement begins. The system plans the measurement sequence in advance, positioning the marker at predetermined locations and orientations. This preliminary setup allows for efficient repeated measurements without requiring time-consuming repositioning or reconfiguration during the actual measurement process, thus reducing time loss while maintaining precision.
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 X-axis and Y-axis offsets, allowing users to verify and adjust the accuracy of autonomous mobile vehicles, reducing the risk of collisions and improving operational efficiency.
Implementation Method 1
a light beam emitting step, implemented to control the light beam device to emit at least one light beam toward the marker so as to form at least one light spot on the marker
Implementation Method 2
an image capturing step, implemented to control an image capture device to capture an image of the marker so as to form a to-be-analyzed image
Data Source
AI summary
An accuracy measurement method of an autonomous mobile vehicle, a calculating device, and an autonomous mobile vehicle are provided. The accuracy measurement method includes a distance calculating step, a regression center calculating step, and an average calculating step. The distance calculating step includes a controlling step, a light beam emitting step, an image capturing step, an image analyzing step, and a converting step. The regression center calculating step is performed after the distance calculating step is repeatedly performed for at least two times. The accuracy measurement method is performed to obtain an X-axis offset in an X-axis direction, a Y-axis offset in a Y-axis direction, and an angle deflection of an autonomous mobile vehicle. In the distance calculating step, the AprilTag on the marker is used in conjunction with the light spot on the marker to calculate an X-axis true distance and a Y-axis true distance.