Autonomous Running Position Control Without Recognition Markers

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Autonomous mobile apparatuses face reduced self-position estimation accuracy in environments without visible recognition markers, particularly under varying light conditions or large luminance differences.

Innovation Solution

An autonomous running device equipped with a surrounding information acquisition unit, rotation sensor, and dual position estimation units that continuously update and utilize positional information to maintain autonomous movement control, even when one estimation method fails, allowing the device to reach its destination without relying on specific landmarks.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a single position estimation method is used, then the device structure is simple, but the reliability of position estimation deteriorates in environments without recognition markers or with poor lighting

Engineering Contradiction:

Improveposition estimation reliabilityVSAvoidposition estimation system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent combines multiple position estimation methods (odometry-based estimation and landmark-based estimation) into a unified position estimation system. The control device acquires both odometry information from wheel rotation sensors and landmark information from image recognition, merging these different estimation approaches to achieve reliable position estimation across various environments without requiring complex separate systems

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The position estimation system is designed to universally handle different estimation scenarios by supporting multiple estimation methods. The system can switch between or combine odometry-based continuous estimation and landmark-based estimation depending on environmental conditions, making the positioning system adaptable to both marker-rich and marker-less environments

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Measurement precision

If recognition markers are provided on the route, then position estimation accuracy is improved, but the ease of operation deteriorates as markers cannot be provided in all environments

Engineering Contradiction:

Improveself-position estimation accuracyVSAvoiddeployment convenience

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The system uses odometry information derived from wheel rotation amounts to enable self-based position estimation without requiring external recognition markers. The autonomous device estimates its own position based on its own motion data, eliminating the need for environmental modifications like marker placement while maintaining operational capability in diverse settings

Inventive Principle:

Principle #25Self-service

3Adaptability or versatility

If odometry-based position estimation is used, then the device can operate without recognition markers, but the measurement precision deteriorates due to cumulative errors from wheel rotation detection

Engineering Contradiction:

Improveenvironmental adaptabilityVSAvoidposition estimation accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system implements feedback by continuously comparing odometry-based position estimates with landmark-based position estimates when landmarks are detected. This feedback mechanism allows the system to correct cumulative odometry errors using accurate landmark-based positioning, thereby maintaining high measurement precision while preserving environmental adaptability

Inventive Principle:

Principle #23Feedback

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 the autonomous running device to accurately navigate and reach its target point by switching between different positional information sources, ensuring continuous autonomous movement control even in environments with reduced estimation accuracy.

Implementation Method 1

a rotation sensor that detects rotation amounts of wheels provided to the running unit

Methodology Applied

Scientific EffectRotation detection:

Data Source

PatentUS11531344B2Autonomous running device, running control method for autonomous running device, and running control program of autonomous running device

Publication Date: 2022.12.20 NSK LTD

AI summary

Provided are an autonomous running device, a running control method for the autonomous running device, and a running control program of the autonomous running device that allow the autonomous running device to reach a destination while continuing estimation of its self-position. An autonomous running device includes a first position estimation unit that estimates the position of the autonomous running device on the basis of information about surroundings of the autonomous running device, produces information about the estimated position of the autonomous running device as first positional information, and updates the first positional information, a second position estimation unit that estimates the position of the autonomous running device on the basis of rotation amounts of wheels, produces information about the estimated position of the autonomous running device as second positional information, and updates the second positional information, and a control unit.