Infrared Landmark Positioning for Mobile Robots
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Solution Overview
Problem
Existing methods for indoor robot position recognition are affected by lighting conditions and require significant preprocessing, and they struggle with accuracy when the robot is inclined or moving over uneven surfaces.
Innovation Solution
A landmark system using infrared markers and a 2-axis inclinometer to detect the position and area information of a mobile robot, allowing for precise position recognition regardless of lighting conditions and correcting for inclination-induced errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If natural landmarks are used for position recognition, then no additional devices are required, but the method requires large memory, additional devices for odometer information, and cannot operate without illumination
Solution Approach 1:
The patent introduces an artificial landmark as an intermediary object that mediates between the robot and the environment. This landmark contains specific geometric features that can be reliably detected by the robot's camera, solving the problem of natural landmarks requiring additional devices and memory while maintaining reliability through controlled, detectable features.
Solution Approach 2:
The patent changes the parameters of the landmark from natural, uncontrolled features to artificial features with specific geometric properties (circles, lines, intersections). This parameter change enables reliable detection without requiring illumination or additional devices, as the geometric features can be extracted from standard camera images.
2Measurement precision
If artificial landmarks are used for position recognition, then position information can be obtained, but the landmark is affected by lightings and color information is distorted by sunlight
Solution Approach 1:
The patent replaces color-based recognition with geometric feature-based recognition. Instead of relying on color information that is distorted by lighting and sunlight, the system uses geometric features (circles, lines, intersections) that can be reliably detected through edge detection and shape analysis, making the recognition immune to lighting conditions.
3Productivity
If conventional camera coordinate systems are used for position calculation, then position information can be calculated, but the robot position information has many errors when the robot is inclined or undergoes rapid acceleration
Solution Approach 1:
The patent segments the position recognition system into two independent parts: (1) a 2-axis inclinometer that measures inclination angles, and (2) a camera that captures landmark images. This segmentation allows the system to compensate for inclination errors by separating the inclination measurement function from the position calculation function, improving precision without sacrificing calculation speed.
Solution Approach 2:
The patent introduces inclination angle information as an intermediary parameter that mediates between the camera image and the final position calculation. The inclinometer provides inclination data that is used to correct the position calculation, serving as a mediator that compensates for errors caused by robot inclination and rapid acceleration.
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 accurate and rapid position recognition of mobile robots in various environments, including those with changing lighting and uneven terrain, without the need for extensive image preprocessing and additional hardware like IMUs.
Implementation Method 1
obtaining a binary image by irradiating an infrared ray to a landmark... and photographing the landmark
Implementation Method 2
detecting 2-axis inclination information of the mobile robot... by using a 2-axis inclinometer
Data Source
AI summary
There are provided a landmark for recognizing a position of a mobile robot moving in an indoor space and an apparatus and method for recognizing the position of the mobile robot by using the landmark. The landmark includes a position recognition part formed of a mark in any position and at least two marks on an X axis and Y axis centered on the mark and further includes an area recognition part formed of a combination of a plurality of marks to distinguish an individual landmark from others. The apparatus may obtain an image of the landmark by an infrared camera, detect the marks forming the landmark, and detect precise position and area information of the mobile robot from the marks.