Optical Position Detection Using Height Masks for Warehouse Objects
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Solution Overview
Problem
Existing position detection techniques for remotely controlled mobile bodies in logistics and warehouses face challenges such as inaccurate position detection due to external factors like uneven surfaces and the need for modifications like attaching sensors or QR codes, which complicates the detection of multiple objects and their positional relationships.
Innovation Solution
A position detection system that uses an imaging apparatus to create map information and mask information, specifying partial optical image information to detect the position of detection objects based on their height range, allowing for accurate positional relationship determination and precise detection without requiring modifications to the objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If QR codes or barcodes are attached to transport objects for position detection, then position detection capability is improved, but device complexity and ease of operation deteriorate due to modification requirements
Solution Approach 1:
The imaging apparatus automatically performs position detection of transport objects without requiring any modifications to the objects themselves. The system uses natural features and optical imaging to detect positions, eliminating the need for attaching QR codes or barcodes to each object, thereby maintaining measurement precision while reducing device complexity and ease of operation.
Solution Approach 2:
The patent replaces mechanical attachment of detection markers (QR codes, barcodes) with an optical imaging system that detects positions through light reflection and image processing. This substitution eliminates the need for physical modifications to transport objects while maintaining accurate position detection capability.
2Measurement precision
If multiple distance sensors are installed to detect positions of multiple objects, then position detection capability is improved, but device complexity and cost increase
Solution Approach 1:
A single imaging apparatus performs the function of multiple distance sensors by capturing optical images of multiple transport objects simultaneously. The image processing unit extracts position information for all objects from one image, providing multi-functionality that reduces device complexity while maintaining position detection accuracy for multiple objects.
Solution Approach 2:
The patent combines multiple position detection functions into a single integrated imaging system. Instead of using separate distance sensors for each object, the system merges detection capabilities into one imaging apparatus that can track multiple objects concurrently, thereby reducing overall system complexity and cost.
3Ease of operation
If depth values from ceiling-mounted sensors are used for position detection, then position detection is simplified, but detection accuracy deteriorates due to inability to distinguish objects at same height
Solution Approach 1:
The patent transitions from one-dimensional depth value detection to two-dimensional spatial coordinate detection by using optical image coordinates. The image processing unit extracts position information based on pixel coordinates and camera parameters, adding dimensional information that enables distinction between objects at the same height while maintaining detection simplicity.
Solution Approach 2:
The system changes the detection parameter from depth value alone to a combination of image plane coordinates and camera parameters. This parameter transformation enables accurate position detection by utilizing the relationship between image coordinates and real-world positions, improving accuracy without sacrificing operational simplicity.
4Stability of the object's composition
If brightness information is used for position detection, then detection stability is improved, but accuracy deteriorates when brightness varies significantly
Solution Approach 1:
The system performs preliminary calibration to establish the relationship between image coordinates and real-world positions before actual position detection. By pre-determining camera parameters and coordinate transformations, the system achieves accurate position detection that is not affected by brightness variations, maintaining both stability and precision.
Solution Approach 2:
The patent introduces image coordinates as an intermediary between the optical image and real-world position. This intermediate coordinate system serves as a bridge that transforms brightness-independent image data into accurate position information, resolving the conflict between detection stability and accuracy under varying brightness conditions.
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 high-precision detection of mobile bodies and transport objects, improving the accuracy and efficiency of remote control operations by stabilizing the detection of contours and positions, even in complex environments with multiple objects.
Implementation Method 1
an imaging apparatus imaging a space including a floor surface on which at least one detection object may be disposed
Data Source
AI summary
A position detection apparatus comprises: a map information creation part that creates map information representing a position in a space including a floor surface on which at least one detection object may be disposed; a mask information creation part that creates mask information, by extracting a region of a predetermined height range within a height range from the floor surface when the detection object is disposed in the space from the map information; a specifying part that specifies partial optical image information, by removing a region corresponding to the mask information from the optical image information; and a detection part that specifies a positional relationship between the map information and the partial optical image information at a pixel level, and detects a position of the detection object in the map information based on the specified positional relationship.