Mobile Robot Position Recognition Using Ceiling Mark Imaging
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Solution Overview
Problem
Mobile robots face challenges in accurately recognizing their position, especially at low illuminance, due to errors in image capture caused by varying light conditions and the accumulation of position recognition errors over time, which affects their ability to navigate and recognize artificial or natural features.
Innovation Solution
An apparatus and method that control the lighting of a light-emitting source and the speed of a mobile robot based on illuminance to capture clear images at night, and process captured images to ensure features remain unchanged regardless of light status, using an image capturing unit, illuminance determining unit, light-emitting control unit, and position recognizing unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If the mobile robot travels for a long time using relative self-position recognition, then the robot can autonomously navigate based on environmental maps, but position recognition errors accumulate due to slip phenomena and collisions
Solution Approach 1:
The patent combines absolute self-position recognition (using ceiling marks and imaging devices) with relative self-position recognition (using encoders and distance measurers). This hybrid approach allows the robot to correct accumulated errors from relative recognition by periodically resetting position using absolute recognition, thereby maintaining accuracy over long traveling durations.
Solution Approach 2:
The system uses feedback from the imaging device to detect ceiling marks and calculate absolute position, which then feeds back to correct errors in the relative position recognition system. This feedback mechanism prevents error accumulation by continuously recalibrating the position estimation.
2Measurement precision
If the mobile robot uses absolute self-position recognition by detecting ceiling marks, then the robot can recognize its absolute position, but image capture becomes difficult when illuminance is low
Solution Approach 1:
The patent attaches reflective marks to the ceiling in advance before the robot's operation. These pre-placed marks serve as predetermined recognition targets that can be detected by the imaging device. The marks are designed with high reflectivity to ensure detectability even in low illuminance conditions, preparing the environment ahead of time for accurate position recognition.
Solution Approach 2:
The patent uses reflective marks on the ceiling that change their optical properties based on illumination. These marks are designed to reflect light effectively, appearing bright when illuminated and maintaining detectable contrast. The marks' optical characteristics are optimized to provide consistent recognition features regardless of ambient light conditions, enabling reliable position detection.
3Loss of information
If the captured image includes lights, then the image contains feature information for position recognition, but pixel values and sizes of lights differ significantly when lights are on or off, causing recognition errors
Solution Approach 1:
The patent extracts and removes light sources from the captured images through image processing. By eliminating the variable light elements from the image data, the system prevents recognition errors caused by changing light conditions. This extraction allows the position recognition algorithm to focus solely on the stable ceiling mark features, ensuring consistent and accurate position determination regardless of ambient lighting.
4Productivity
If the mobile robot increases speed to improve productivity, then the robot can cover more ground, but image blurring increases making position recognition more difficult
Solution Approach 1:
The patent implements periodic position recognition by capturing images at specific intervals rather than continuously. The robot travels at normal speed between recognition points, then periodically stops or slows down at predetermined locations to capture clear images of ceiling marks for position verification. This periodic action allows high-speed travel while maintaining accurate position recognition at key moments.
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
This approach enhances the accuracy and efficiency of mobile robot position recognition by reducing image blurring and errors, allowing effective navigation even in low-light conditions and maintaining consistent feature recognition regardless of light states.
Implementation Method 1
an image capturing unit which is loaded into a mobile robot and captures an image
Implementation Method 2
a light-emitting unit which emits light toward a position
Data Source
AI summary
Provided is an apparatus for recognizing the position of a mobile robot. The apparatus includes an image capturing unit which is loaded into a mobile robot and captures an image; an illuminance determining unit which determines illuminance at a position where an image is to be captured; a light-emitting unit which emits light toward the position; a light-emitting control unit which controls the light-emitting unit according to the determined illuminance; a driving control unit which controls the speed of the mobile robot according to the determined illuminance; and a position recognizing unit which recognizes the position of the mobile robot by comparing a pre-stored image to the captured image.