Mobile robot and method of controlling same
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Solution Overview
Problem
Current moving robots lack the capability to perform accurate marker recognition in various directions and positions using low-resolution cameras, which limits their ability to estimate position and posture effectively.
Innovation Solution
A moving robot equipped with a camera, memory, and a controller that extracts information from longitudinal line segments in the marker's pattern to calculate position, posture, and direction, allowing for precise control of the robot's movement based on detected data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a high-resolution camera is used for marker recognition, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The marker pattern is segmented into multiple longitudinal line segments, allowing the system to extract position and posture information from individual line segments rather than requiring full high-resolution image processing. This segmentation enables accurate marker recognition using lower-resolution cameras.
Solution Approach 2:
The invention extracts only the essential features (longitudinal line segments) from the marker pattern that are necessary for position and posture detection, rather than processing the entire high-resolution image. This extraction approach maintains measurement precision while reducing the requirements for camera resolution and system complexity.
2Adaptability or versatility
If marker recognition is performed in various directions and positions, then adaptability is improved, but device complexity increases
Solution Approach 1:
The marker pattern employs asymmetric longitudinal line segments with specific orientations and positions that encode directional information. This asymmetric design allows the robot to determine its position and orientation relative to the marker without requiring complex recognition algorithms for multiple viewing angles.
Solution Approach 2:
The invention adds dimensional information to the marker pattern by using longitudinal line segments with specific orientations and spatial arrangements. This dimensional encoding enables the system to recognize markers from various directions and positions by interpreting the geometric relationships between line segments rather than requiring complex multi-angle processing.
3Ease of manufacture
If simple patterns are used for marker recognition, then ease of manufacture is improved, but measurement precision deteriorates
Solution Approach 1:
The marker pattern is divided into multiple longitudinal line segments that can be easily manufactured using simple printing or marking techniques. Each line segment serves as a distinct feature that can be precisely detected, maintaining measurement precision while allowing for simple and cost-effective manufacturing of the marker.
Solution Approach 2:
The invention replaces complex mechanical or electronic marker recognition systems with a simple visual pattern consisting of longitudinal line segments. This substitution maintains high measurement precision for position and posture detection while significantly simplifying the manufacturing process and reducing costs.
Data Source
AI summary
A moving robot includes a main body, a driving unit moving the main body, a camera installed on one side of the main body and capturing an image related to a marker, a memory storing information related to a pattern of the marker, and a controller extracting information related to at least one longitudinal line segment included in an appearance of the marker from the captured image, detecting information related to a position and a posture of the main body on the basis of the extracted information related to at least one of the longitudinal line segment and the pattern, and controlling the driving unit on the basis of at least one of the detected position and posture of the main body.