Marker-Combined SLAM Navigation for Industrial Docking Precision
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Solution Overview
Problem
Existing SLAM navigation systems face challenges in maintaining accuracy, especially in large environments, due to ineffective loop closing and sensor accuracy limitations, which affects precise locating required for conveyor belt docking and mechanical arm operations.
Innovation Solution
A marker-combined simultaneous localization and mapping navigation method that uses markers with pose information or identification information to update the current pose of the located object, incorporating a Gaussian model for optimal pose estimation and correcting angular deviations using an auxiliary locating belt.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If SLAM navigation is used without markers, then convenience is improved, but locating precision deteriorates in large environments
Solution Approach 1:
The navigation system is segmented into two parts: SLAM for general navigation and markers for precision correction. Markers are placed at specific locations to provide reference points, dividing the navigation task into coarse localization (SLAM) and fine localization (marker-based correction), thereby maintaining convenience while improving precision.
Solution Approach 2:
Markers serve as intermediary objects that bridge the gap between SLAM estimation and actual position. The markers provide known reference points that mediate the localization process, allowing the system to correct SLAM drift without abandoning SLAM's convenience.
2Area of stationary object
If SLAM system operates in large environments, then coverage area is improved, but loop closing effectiveness deteriorates
Solution Approach 1:
Markers are pre-placed in the environment at known positions before the robot begins navigation. This preliminary action provides predetermined reference points that the robot can use for correction, ensuring loop closing effectiveness even in large areas where natural features may be insufficient.
Solution Approach 2:
Markers act as intermediary reference objects that enable reliable loop closing in large environments. By providing known position references, markers mediate the matching process between robot observations and map data, maintaining reliability as coverage area expands.
3Ease of manufacture
If low-cost sensors are used, then system cost is reduced, but locating precision deteriorates for docking and mechanical arm operations
Solution Approach 1:
The system segments the localization task into two stages: coarse localization using low-cost SLAM sensors and fine localization using marker-based correction. This segmentation allows the use of inexpensive sensors for the majority of navigation while reserving precision correction for critical operations like docking and mechanical arm tasks.
Solution Approach 2:
High precision is applied locally at critical locations where markers are placed (docking stations, mechanical arm operation areas) rather than uniformly throughout the entire environment. This local quality approach maintains precision where needed while keeping overall system cost low.
Data Source
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AI summary
Provided are a marker-combined simultaneous localization and mapping (SLAM) navigation method, device and system. The method includes: providing an initialization area for a located object, where at least one of the initialization area for a located object, a travelling path of a located object, and a docking device of the located object is provided with an marker including at least one of pose information, identification information and non-identification graphic information; controlling the located object to perform at least one of following operations: starting from the initialization area for a located object, and based on the marker, determining an initial pose of the located object; when the marker is passed on the travelling path, updating a current pose of the located object based on the marker; and when docking with the docking device, adjusting a relative pose between the located object and the docking device based on the marker.