Mowing Robot Visual Positioning Using Dual Marker Triangulation
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Solution Overview
Problem
Existing visual servo mowing robots have a complex and costly positioning method, which is inefficient for target tracking and location determination.
Innovation Solution
A visual identification positioning system using first and second positioning members with identification features, a visual identification unit, and a computation unit to calculate coordinates and define ranges, allowing the mowing robot to determine its current location without satellite positioning, and restrict its movement within defined boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite positioning is used for mowing robot positioning, then positioning accuracy is improved, but system cost and complexity increase
Solution Approach 1:
The patent creates a virtual copy of the physical environment by establishing a map with multiple beacon positions and their corresponding coordinate information. The robot positions itself by detecting beacon signals and calculating its location based on the pre-stored map data, eliminating the need for complex satellite positioning hardware while achieving accurate positioning through information copying
Solution Approach 2:
The patent introduces beacon devices as intermediary elements between the robot and the positioning system. These beacons emit detectable signals that serve as mediators, allowing the robot to determine its position indirectly through signal detection and triangulation rather than direct satellite positioning
2Adaptability or versatility
If visual servo method is used for target tracking, then target tracking capability is improved, but positioning process becomes complex and time-consuming
Solution Approach 1:
The patent divides the positioning process into two independent segments: map construction phase (where beacon positions are recorded) and robot positioning phase (where the robot detects beacons and calculates location). This segmentation simplifies the overall system by separating the complex mapping task from the real-time positioning task, making both processes more manageable and efficient
3Adaptability or versatility
If visual servo method is used for target tracking, then target tracking capability is improved, but positioning speed decreases
Solution Approach 1:
The patent performs preliminary action by pre-establishing the map with all beacon positions, coordinates, and spatial relationships before the robot begins its operation. This pre-computation eliminates the need for complex real-time calculations during robot movement, significantly speeding up the positioning process while maintaining accurate target tracking capability
Data Source
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AI summary
A visual identification positioning system (1)(3) includes a first positioning member (10), a second positioning member (20), and a mowing robot (30). The mowing robot (30) has a visual identification unit (31) and a computation unit (36). The visual identification unit (31) identifies a first identification feature (11) of the first positioning member (10) and a second identification feature (11, 21) of the second positioning member (20) to generate first and second signals to the computation unit (36). The computation unit (36) computes a first coordinate, a second coordinate, a first distance (D1) between the mowing robot (30) and the first coordinate, and a second distance (D2) between the mowing robot (30) and the second coordinate according to the first and second signals, and defines first and second ranges (C1, C2) with the first and second coordinates as centers according to the first and second distances (D1, D2), and computes a coordinate of an intersection of the first and second ranges (C1, C2) as a current location coordinate of the mowing robot (30).