Autonomous Work Machine Boundary Control With Identical Markers
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Solution Overview
Problem
Existing autonomous work machine control methods require multiple distinct markers to define a work area, leading to increased procurement costs.
Innovation Solution
An autonomous work machine system that detects multiple markers to define a work area, specifies marker information, sets a virtual line connecting the markers, and controls the machine to stay within the virtual boundary without deviating into regions beyond it.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple distinct markers are used to define the work area, then the autonomous work machine can accurately identify and navigate within the work area, but the procurement cost of markers increases
Solution Approach 1:
The patent applies homogeneity by using identical markers throughout the work area boundary instead of multiple distinct marker types. The autonomous work machine identifies the work area by detecting the spatial arrangement and geometric patterns of these identical markers, forming virtual lines that define the boundary. This eliminates the need for costly diverse markers while maintaining accurate work area identification through consistent marker design and positional relationships.
2Measurement precision
If multiple distinct markers are used to define the work area, then the autonomous work machine can accurately identify and navigate within the work area, but the complexity of the system increases
Solution Approach 1:
The patent simplifies the marker system by using identical markers uniformly distributed along the work area boundary. This homogeneous approach reduces system complexity by eliminating the need to manage multiple marker types, their distinct characteristics, and differentiation logic. The autonomous work machine processes marker information based on consistent geometric relationships and virtual line formations, making the system more manageable and less complex while maintaining precise work area identification.
3Quantity of substance
If identical markers are used to reduce costs, then the marker procurement cost decreases, but it becomes difficult to distinguish individual markers and determine their positions
Solution Approach 1:
The patent resolves the information loss problem by transitioning from identifying markers through their individual characteristics to identifying them through their spatial dimension and geometric relationships. The autonomous work machine determines marker positions by detecting their coordinates, forming virtual lines between adjacent markers, and calculating distances from the work machine to these virtual lines. This dimensional approach to position identification maintains full marker location information even when all markers are identical.
Solution Approach 2:
The system continuously receives feedback from the detection unit about marker positions and uses this information to calculate the work machine's position relative to virtual lines formed by adjacent markers. This feedback loop ensures that even with identical markers, the system maintains accurate position information by constantly updating the geometric relationships between markers and the work machine, preventing any loss of positional data.
Data Source
AI summary
An autonomous work machine that works in a work area, comprising: a detection unit that detects a plurality of markers arranged to define the work area; a specifying unit that specifies marker information based on a detection result of the detection unit; a setting unit that sets a virtual line connecting the plurality of markers based on the marker information specified by the specifying unit; and a control unit that controls the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line set by the setting unit.