Reflective Matrix Marker Sensing for Compact Robot Navigation
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Solution Overview
Problem
Conventional mobile robot systems using signal-emitting beacons require extensive wiring and increased installation and maintenance costs, while marker-based systems face challenges in accurate and cost-effective identification and distance measurement, especially in compact environments like factories and distribution warehouses.
Innovation Solution
An image processing device and mobile robot control system utilizing a detection object with alternating light-reflecting and non-reflecting cells arranged in a matrix, allowing for accurate identification and distance measurement using an illuminator, imager, and calculator to calculate the distance and direction to the marker, enabling efficient drive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a barcode or QR code is used as a marker for unmanned conveyance vehicles, then the marker can be identified, but the reading accuracy is insufficient and large installation space is required
Solution Approach 1:
The marker is divided into multiple cells (white and black) arranged in a matrix pattern, where each cell contributes to the overall identification. This segmentation allows the marker to be recognized as a unified pattern even when individual cells are small, enabling accurate reading without requiring large installation space.
Solution Approach 2:
The marker uses alternating white and black cells that create high contrast visual patterns. This color/reflectivity change strategy enhances the marker's detectability and reading accuracy by the imaging device, allowing reliable identification without increasing the marker's physical size.
2Ease of operation
If signal-emitting beacons are used to guide mobile robots, then the robots can be guided to destinations, but extensive wiring and high installation and maintenance costs are required
Solution Approach 1:
The patent extracts the guidance function from the complex signal-emitting beacon system and implements it using a passive marker system. The marker itself does not require power or wiring, and the mobile robot's imaging device performs the detection and guidance functions, thereby eliminating the need for extensive wiring and reducing installation complexity.
Solution Approach 2:
The marker system is self-service in that it requires no external power source or active components. The passive reflective marker works autonomously by reflecting light from the mobile robot's illuminator, eliminating the need for wiring, power sources, and associated maintenance that would be required for active signal-emitting beacons.
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
The system achieves accurate identification and distance measurement with a compact marker, reducing installation costs and maintaining system efficiency, even with signal-emitting beacons, thus providing a cost-effective and versatile solution for mobile robot navigation.
Implementation Method 1
an illuminator emitting light
Implementation Method 2
light reflected from the first cells after the first cells and the second cells constituting the detection object are illuminated with the light emitted from the illuminator
Data Source
AI summary
This image processing device includes: a detection object including cells having first cells capable of reflecting emitted light and second cells incapable of reflecting the emitted light, the cells being squares or rectangles, the first cells and the second cells being arranged in an a×a or a×b (where a, b=3, 4, 5, 6, . . . ) matrix on a two-dimensional plane; and a detector including: an illuminator emitting light; imagers imaging, by a camera, light reflected from the first cells after the first cells and the second cells constituting the detection object are illuminated with the light emitted from the illuminator; and a calculator obtaining information set on the detection object 11, based on imaged data items taken by the imagers. Such a configuration can accurately identify a compact marker and measure the distance, and achieve a system inexpensively.