Robot Arena Coded Strip Localization With Camera-Based Orientation
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Solution Overview
Problem
Existing position location systems for robots in performance arenas lack speed, simplicity, computational efficiency, and versatility, making them inadequate for precise positioning and orientation within dynamic environments.
Innovation Solution
A performance arena system featuring a coded strip with a non-repeating sequence of dark and light blocks, mounted around the perimeter, and a digital camera-based positioning device that identifies feature points to determine the robot's position and orientation using image processing and zero-mean filtering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional position location systems are used, then robots can determine their position in the arena, but the systems lack speed and computational efficiency
Solution Approach 1:
The patent replaces complex mechanical positioning systems with an optical-based vision system. A camera captures images of a coded pattern on the arena floor, and image processing algorithms rapidly determine robot position and orientation. This substitution of mechanical systems with optical/electronic systems achieves both high speed and computational efficiency.
Solution Approach 2:
The patent uses a coded pattern that creates a visual copy or representation of position information on the arena floor. The pattern encodes spatial information that can be rapidly decoded by the vision system, enabling fast position determination without complex computations.
2Measurement precision
If complex position location systems are implemented, then positioning accuracy improves, but system complexity increases
Solution Approach 1:
The patent employs a coded pattern with distinct visual features (different colors or intensities) that can be easily detected by the camera. The pattern includes features like corners, lines, and geometric shapes with high contrast, enabling accurate position and orientation determination through simple image processing without complex hardware.
Solution Approach 2:
The patent encodes position information in a two-dimensional visual pattern on the floor, which the camera captures as a 2D image. The system then decodes this 2D image to extract 2D position and orientation information, achieving high precision through mathematical transformation rather than complex physical measurement systems.
3Ease of operation
If existing position systems are used, then robots can navigate the arena, but extensive calibration is required
Solution Approach 1:
The coded pattern is pre-installed on the arena floor during arena construction, with its geometric properties and coordinate system predetermined. This preliminary setup eliminates the need for runtime calibration, as the pattern's features are inherently known and can be directly used for position determination.
4Adaptability or versatility
If traditional positioning methods are used, then robots can operate in the arena, but versatility across different arenas is limited
Solution Approach 1:
The coded pattern design is universal and can be implemented on arenas of different sizes and configurations. The same basic pattern geometry and decoding algorithm work across multiple arenas, allowing robots to operate consistently in different environments without reconfiguration. The pattern scales with the arena while maintaining its geometric relationships.
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, real-time positioning and orientation of robots within the arena, allowing for efficient navigation and operation without the need for extensive calibration, facilitating standardized competitions and operations across multiple arenas.
Implementation Method 1
a digital camera for acquiring an image comprising one or more of the portions of the sequence of marks
Implementation Method 2
the digital camera having a lens system for focusing the image on an image sensor
Data Source
AI summary
The present invention relates to a method and apparatus to determine the position of an image sensor relative to a predetermined continuous pattern of colors and/or objects based on the images said patterns of colors and/or objects produces within the image sensor.