Robotic Mower Camera Calibration for Charging Dock Positioning
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Solution Overview
Problem
Existing self-propelled devices face challenges in accurately determining the boundary of the working region and the posture of the charging pile due to reliance on manual encirclement lines and inaccurate positioning methods, which are time-consuming and labor-intensive, and the limitations of vision and laser sensor technologies.
Innovation Solution
A self-propelled device system with a camera assembly that includes a binocular camera and a controller for calibrating camera parameters using pre-stored three-dimensional feature points of the charging pile, enabling precise determination of the charging pile's posture and boundary detection through image processing and depth mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If physical encirclement lines are manually mounted on the boundary of the working region, then the boundary positioning can be achieved, but the process becomes time-consuming and labor-intensive
Solution Approach 1:
The patent uses virtual boundary lines generated from map data instead of physical encirclement lines. The controller obtains boundary information from map data and generates virtual boundary lines that the self-propelled device follows, eliminating the need for manual mounting of physical markers while maintaining positioning accuracy.
Solution Approach 2:
The patent replaces the mechanical system of physical encirclement lines with an information-based system. The controller uses map data and image processing to determine boundary positions and generate virtual boundary lines, substituting physical markers with digital information processing.
2Ease of operation
If vision technology or laser sensor technology is used for charging pile positioning, then positioning can be performed, but the positioning result is inaccurate
Solution Approach 1:
The patent transitions from two-dimensional image data to three-dimensional spatial information by introducing depth maps. The controller generates depth maps based on image data and uses the depth information to accurately determine the position and posture of the charging pile in three-dimensional space, improving positioning precision.
Solution Approach 2:
The patent introduces depth maps as an intermediary between the image data and the final positioning result. The depth map serves as a mediator that translates two-dimensional images into three-dimensional spatial relationships, enabling accurate determination of the charging pile's position and posture.
3Productivity
If the image collection device works for a long time, then it can complete multiple tasks, but structural problems such as aging cause parameter deviation and affect working accuracy
Solution Approach 1:
The patent implements self-calibration functionality where the system automatically detects and corrects its own parameter deviations. The controller performs calibration operations using the imaging device and depth map generation capabilities, allowing the system to self-correct parameter drift caused by aging without external intervention.
Solution Approach 2:
The patent establishes a feedback mechanism where the system continuously monitors its own performance and adjusts parameters accordingly. The calibration process uses feedback from the imaging device and depth map comparisons to correct parameter deviations, ensuring sustained accuracy over time.
Data Source
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AI summary
Provided is a self-propelled device system. The system includes a self-propelled mower and a charging pile. The charging pile is used for charging the self-propelled device. The self-propelled mower includes a body; a traveling wheel assembly for supporting the body; a camera assembly mounted on the body and used for collecting an image around the self-propelled device; and a controller communicatively connected to the camera assembly. The controller is configured to determine the relative posture between the charging pile and the self-propelled mower according to the image.