Optical Marker Localization for Precise Robotic Docking Control
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Solution Overview
Problem
In complex robotic systems, particularly in dynamic environments, there is a challenge in quickly and efficiently recognizing and identifying surrounding interaction partners, including their orientation, to enable precise docking processes and coordinated maneuvers without excessive CPU/GPU resource utilization.
Innovation Solution
A device equipped with an optical detection system to capture two-dimensional patterns, which includes marking areas for relative localization, allowing for precise control of movement and orientation by evaluating these patterns to determine the device's position and orientation relative to objects, using a combination of object and surface codes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two-dimensional patterns with marking areas are used for relative localization, then measurement precision and reliability are improved, but device complexity increases due to the need for optical detection devices and pattern evaluation systems
Solution Approach 1:
The patent uses two-dimensional patterns (such as QR codes or marker patterns) as optical copies or representations of positional and orientational information. Instead of using complex mechanical encoders or sensors on the object, a simple visual pattern is applied to the object surface that can be read by the optical detection device to determine relative position and orientation with high precision.
Solution Approach 2:
The patent replaces mechanical localization systems (such as mechanical encoders, tactile sensors, or complex mechanical linkages) with an optical system. The optical detection device captures images of the two-dimensional patterns, and the evaluation device processes these images to determine relative localization, substituting mechanical measurement methods with optical and computational methods.
2Measurement precision
If optical detection devices are used to detect two-dimensional patterns, then measurement precision is improved, but use of energy increases due to continuous operation of detection and evaluation systems
Solution Approach 1:
The optical detection device and pattern evaluation system operate periodically or on-demand rather than continuously. The system captures images of the two-dimensional patterns at specific intervals or when needed for localization updates, allowing the system to maintain high measurement precision while reducing energy consumption by keeping the detection and evaluation systems in low-power states between measurements.
3Measurement precision
If two-dimensional patterns with multiple marking areas are used, then measurement precision and orientation detection are improved, but difficulty of detecting and measuring increases due to complex pattern evaluation requirements
Solution Approach 1:
The two-dimensional pattern is divided into multiple distinct marking areas or regions, each serving specific functions. For example, corner markers or fiducial markers are segmented from the rest of the pattern to facilitate easy detection and calculation of position and orientation. This segmentation allows the evaluation device to process different parts of the pattern independently, reducing the overall computational complexity.
Solution Approach 2:
The patent uses distinct visual characteristics (such as different colors, brightness levels, or contrast patterns) in different marking areas of the two-dimensional pattern to facilitate easy differentiation and detection. These visual variations help the optical detection device quickly identify and distinguish between different parts of the pattern, simplifying the evaluation process while maintaining high measurement precision.
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
Enables robust and precise control of robotic movements, efficient resource usage, and rapid recognition of surrounding objects and their orientation, facilitating coordinated actions in dynamic robotic systems.
Implementation Method 1
an optical detection device (12) which is designed to detect an object (14) in order to obtain an image of the object (14)
Data Source
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AI summary
The invention relates to a device (10) comprising an optical sensing apparatus (12), which is designed to sense an object (14) in order to obtain an image of the object. The device comprises a drive apparatus (32), which is designed to drive and move the device. The device comprises an evaluation apparatus (22), which is designed to evaluate the image with regard to an at least two-dimensional pattern (16), to evaluate the pattern with respect to at least a first marking region (241) and a second marking region (242), to obtain a marking result by comparing the first marking region and the second marking region, and to determine the relative location of the device with respect to the object on the basis of the marking result. The device comprises a control apparatus (28), which is designed to control the drive apparatus on the basis of the relative location.