Autonomous Robot Docking With 3D Vision and AR Tag Alignment
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Solution Overview
Problem
Conventional autonomous mobile robots require manual charging and alignment with docking stations, lacking efficient autonomous charging capabilities.
Innovation Solution
The use of 3D depth cameras and AR tags for precise alignment and obstacle assessment, enabling a 360-degree field of view and improved processing methodologies for autonomous docking and charging, including communication capabilities for real-time data processing and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual charging is used, then device complexity is reduced, but productivity decreases due to daily manual intervention
Solution Approach 1:
The robot autonomously navigates to the docking station and aligns its connector with the station's connector without human intervention. The system uses depth cameras and AR tags for autonomous alignment, enabling the robot to charge itself automatically, thereby eliminating manual charging operations and improving productivity.
2Measurement precision
If autonomous docking with depth cameras and AR tags is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
AR tags are introduced as intermediary visual markers placed on both the robot and the docking station. These tags serve as mediators for the depth cameras to detect and measure alignment precisely. The tags provide clear geometric features that simplify the vision processing and enable accurate positioning without requiring complex sensor systems.
3Reliability
If 360-degree field of view with depth cameras is used, then reliability of obstacle avoidance is improved, but use of energy increases
Solution Approach 1:
The depth cameras are activated periodically during critical phases of the docking process (approach, alignment, connection) rather than continuously. This periodic activation maintains reliable obstacle detection and avoidance capabilities while significantly reducing energy consumption compared to continuous operation.
Data Source
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AI summary
An apparatus, system and method of operating an autonomous mobile robot having a height of at least one meter. The apparatus, system and method may include a robot body; at least two three-dimensional depth camera sensors affixed to the robot body proximate to the height, wherein the at least two three-dimensional depth camera sensors are both directed toward a major floor surface from the affixation and, in combination, comprise an at least substantially 360 degree field of view of the major floor surface around the robot body; and a processing system for receiving of data within the field of view from the at least one three-dimensional depth camera sensor, detecting the presence of a plurality of AR tags on the upper surface of the charging base, calculating a virtual alignment point associated with the center of the robot docking connector, calculating a virtual alignment point associated with the center of the charging base docking connector, and outputting a path of travel between the center of the charging base docking connector and the center of the robot docking connector, whereby a physical connection is made.