Marker-Based Sensor Assembly for Single-Sensor AGV Positioning
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Solution Overview
Problem
Existing sensor arrangements for positioning mobile units, such as AGVs, are structurally complex and require multiple sensors for accurate positioning, leading to increased design effort and signal evaluation complexity.
Innovation Solution
A sensor arrangement using a marker with geometric structures and a single positioning sensor, which captures images to determine both distance and angle of inclination, allowing for precise positioning with reduced design complexity by analyzing the geometric structure's distortion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors (optical sensor, image sensor, two distance sensors) are used for positioning, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions (distance measurement, inclination measurement, and code reading) into a single image sensor. The image sensor captures geometric structures of a marker to determine both distance and inclination angles through image processing, eliminating the need for separate distance sensors and optical sensors while maintaining positioning precision.
Solution Approach 2:
The image sensor is designed to perform multiple functions: it reads the code on the marker for identification, detects the geometric structures for distance calculation, and measures inclination angles through perspective distortion analysis. This multi-functional approach replaces multiple specialized sensors with one versatile device.
2Measurement precision
If multiple sensors are used for positioning, then positioning precision is improved, but signal evaluation complexity increases
Solution Approach 1:
The patent merges multiple signal processing tasks into a unified image processing workflow. The image sensor's captured image is processed to simultaneously extract code information, calculate distance from geometric structure size, and determine inclination from perspective distortion, replacing the need to separately evaluate signals from multiple sensors.
3Device complexity
If a single positioning sensor is used, then device complexity is reduced, but positioning precision deteriorates
Solution Approach 1:
The patent utilizes the two-dimensional image plane of the image sensor to extract three-dimensional positioning information. By analyzing the perspective distortion and relative sizes of known geometric structures in the 2D image, the system calculates 3D parameters including distance and inclination angles, achieving high-precision positioning with a single 2D sensor.
Solution Approach 2:
The system changes the approach from using multiple sensors measuring different parameters to using a single sensor capturing multiple parameters simultaneously. The image sensor captures geometric structure size (for distance), perspective distortion (for inclination), and code pattern (for identification) all in one measurement, extracting comprehensive positioning data from a single image.
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 high-precision positioning of mobile units relative to stationary markers with minimal design effort, using a single sensor to determine distance and angle of inclination, thus simplifying the sensor arrangement and enhancing positioning accuracy.
Implementation Method 1
an image of the geometric structure of the marker captured by the positioning sensor
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
The invention relates to a sensor arrangement (1) comprising a marker (14) having geometric structures and a positioning sensor (4). The geometric structures of the marker (14) are known in the positioning sensor (4). By evaluating an image of the geometric structure of the marker (14) captured by the positioning sensor (4), the distance and the inclination angle of the marker (14) relative to the positioning sensor (4) are determined.