Optical Pattern Localization for Mobile Robot Docking and Navigation
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Solution Overview
Problem
In complex systems of cooperating mobile robots, there is a challenge in unambiguously recognizing and identifying surrounding interaction partners, including their spatial orientations, to enable efficient operations like docking and navigation, while minimizing resource usage.
Innovation Solution
The implementation of a device equipped with an optical sensing unit, drive unit, evaluation unit, and control unit, which senses objects using two-dimensional patterns, evaluates these patterns to determine relative localization, and controls the drive unit for precise movement.
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 additional optical sensing and evaluation units
Solution Approach 1:
The patent uses two-dimensional patterns (such as QR codes or other machine-readable patterns) as visual copies or representations of localization information. Instead of using complex physical markers or RFID tags, the system projects encoded spatial information onto the object surface through these patterns, allowing the evaluation unit to extract positioning data by analyzing the geometric relationships between marking areas in the captured image.
Solution Approach 2:
The patent replaces mechanical or electronic identification systems with an optical-based solution. By using an optical sensing unit to capture images of two-dimensional patterns and an evaluation unit to process these images for relative localization, the system substitutes complex mechanical positioning mechanisms or electronic communication protocols with a simpler optical measurement approach.
2Productivity
If optical sensing unit senses object along or in parallel with direction of movement, then productivity and speed are improved, but measurement precision may worsen due to perspective distortion
Solution Approach 1:
The patent transitions from analyzing only the two-dimensional image plane to incorporating three-dimensional spatial reasoning. By evaluating the geometric relationships, proportions, and relative positions of multiple marking areas within the pattern, the system can infer depth information and compensate for perspective distortion, effectively adding a third dimension to the measurement process.
Solution Approach 2:
The patent changes the parameters used for localization from simple feature detection to geometric relationship analysis. Instead of relying on a single reference point or marker, the system uses the relative positions, distances, and angles between multiple marking areas within the two-dimensional pattern as variables to calculate relative localization, making the measurement more robust to perspective changes.
Data Source
AI summary
A device includes an optical sensing unit configured to sense an object so as to obtain a picture of the object. The device includes a drive unit configured to drive and to move the device. The device includes an evaluation unit configured to evaluate the picture in terms of an at least two-dimensional pattern and to evaluate the pattern in terms of at least a first marking area and a second marking area. The evaluation unit is configured to obtain a marking result by comparing the first marking area and the second marking area, and to determine, on the basis of the marking result, relative localization of the device with regard to the object. The device includes a control unit configured to control the drive unit on the basis of the relative localization.