Docking Target Reflection Layout for Close-Range LiDAR Positioning
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Solution Overview
Problem
Autonomous mobile devices face challenges in accurately identifying docking targets due to proximity ranging errors of LiDAR, leading to reduced docking accuracy and reliability, especially when close to the target.
Innovation Solution
Implementing a target with at least three reflection regions, where the reflective properties of the first and second regions differ, allowing for improved positioning accuracy through laser reflection angle measurement, and compensating for docking errors based on previous docking data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR is used for target localization in docking process, then the device can autonomously navigate and dock with targets, but the measurement precision deteriorates when close to the target due to proximity ranging errors
Solution Approach 1:
The patent introduces a laser reflection angle measurement system as an intermediary method to supplement LiDAR localization. By measuring the reflection angle of laser beams from the target surface, the system obtains accurate positional information without suffering from proximity ranging errors that affect LiDAR at close distances
Solution Approach 2:
The patent segments the localization process into two distinct methods: LiDAR-based ranging for general navigation and laser reflection angle measurement for precise docking. This segmentation allows each method to operate in its optimal range, with LiDAR handling long-range detection and reflection angle measurement handling close-range precision positioning
2Manufacturing precision
If traditional LiDAR ranging is used for docking, then the system can operate autonomously, but the docking accuracy reduces when close to the target
Solution Approach 1:
The patent changes the measurement parameter from distance-based LiDAR ranging to angle-based laser reflection measurement. This parameter change enables accurate position identification at close distances where LiDAR ranging fails, thereby improving docking accuracy without sacrificing autonomous operation capability
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
Enhances the accuracy and reliability of docking by utilizing the higher measurement precision of laser reflection angles and error compensation, improving the overall docking process.
Implementation Method 1
determining, based on the point clouds of the at least three first target reflection regions, a laser reflection angle of each of the at least three first target reflection regions; and determining, based on the laser reflection angle of each of the at least three first target reflection regions, first location information of the target
Data Source
AI summary
The present disclosure provides a method for locating a target. The target includes at least three reflection regions. The at least three reflection regions include at least two first reflection regions distributed at intervals and at least one second reflection region. The method comprises: obtaining first point cloud data generated by scanning the target by a laser scanning device; determining, based on reflection intensities of a plurality of first data points, point clouds of at least three first target reflection regions of the at least three reflection regions from the first point cloud data; determining, based on the point clouds of the at least three first target reflection regions, a laser reflection angle of each of the at least three first target reflection regions; and determining, based on the laser reflection angle of each of the at least three first target reflection regions, first location information of the target.