Autonomous Work Machine Boundary Control Using Marker Detection

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Solution Overview

Problem

Autonomous work machines may deviate out of defined working areas, potentially causing accidents when traveling between markers, especially if markers are obscured or move, leading to uncertainty in maintaining operation within the designated boundaries.

Innovation Solution

Equipping the autonomous work machine with a camera system and an Electronic Control Unit (ECU) that uses parallax images to calculate distances and detect markers, setting a virtual boundary and adjusting travel speed and direction to prevent deviation from the working area, and employing alternative position estimation methods if markers are not detected or move.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the autonomous work machine travels toward between markers to continue work, then productivity is improved, but the machine may deviate out of the working area causing safety hazards

Engineering Contradiction:

Improvework continuityVSAvoidsafety hazard

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The control unit performs preliminary detection of marker positions and calculates the virtual boundary line before the machine reaches critical positions. When the machine approaches the boundary, the system proactively adjusts the traveling direction to maintain a safe distance from the virtual boundary, preventing deviation before it occurs.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously detects marker positions, calculates the virtual boundary line, and monitors the machine's distance from this boundary in real-time. Based on this feedback, the control unit dynamically adjusts the traveling direction to ensure the machine maintains an appropriate distance from the working area boundary, enabling continuous work while preventing safety hazards.

Inventive Principle:

Principle #23Feedback

2Ease of operation

If the autonomous work machine relies on marker detection for navigation, then ease of operation is improved, but reliability deteriorates when markers are obscured or move

Engineering Contradiction:

Improveautonomous navigationVSAvoidposition accuracy

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The system calculates a virtual boundary line based on marker positions and uses this as a reference to maintain a safety margin. When markers are temporarily obscured or displaced, the machine continues to follow the pre-calculated virtual boundary, providing a cushion against position errors and ensuring reliable operation despite marker issues.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

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

Ensures continuous operation within the working area without deviation, enhancing safety and efficiency by precisely controlling the machine's movement based on real-time image analysis and sensor data.

Implementation Method 1

uses parallax images to calculate distances and detect markers

Methodology Applied

Scientific EffectParallax: Parallax

Data Source

PatentEP3884749B1Autonomous work machine, autonomous work machine control method, and program

Publication Date: 2024.01.03 HONDA MOTOR CO LTD

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AI summary

An autonomous work machine that performs a work in a working area defined by a marker, characterized by comprising: a camera; detection means for detecting the marker from a captured image of the camera; and control means for, if the marker deviates from a detection range of the detection means, controlling at least one of a traveling speed and a traveling direction of the autonomous work machine.