Autonomous Robot Docking With AR Tags and 3D Depth Cameras
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Solution Overview
Problem
Autonomous robots require manual charging due to the lack of a precise docking mechanism, necessitating manual plugging and unplugging by a technician.
Innovation Solution
The use of depth cameras and AR tag/camera alignment system for autonomous robot navigation, enabling precise alignment with a charging dock through 3D depth camera sensors and processing systems to calculate virtual alignment points and guide the robot for connection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual plugging and unplugging is used for charging, then the robot can be charged, but it requires human intervention and reduces operational efficiency
Solution Approach 1:
The robot autonomously navigates to the charging dock, detects its position using depth cameras and AR tags, aligns its connector with the dock connector, and establishes electrical connection without human intervention. The system performs self-service charging by independently completing all docking operations.
2Extent of automation
If a docking station is introduced for autonomous charging, then automation is improved, but the system complexity increases due to alignment requirements
Solution Approach 1:
The patent replaces complex mechanical alignment mechanisms with optical sensing systems. Depth cameras capture spatial information and AR tags provide positional references, allowing the robot to calculate alignment mathematically rather than using mechanical guides or sensors, thereby reducing mechanical complexity.
Solution Approach 2:
AR tags serve as intermediaries between the charging dock and the robot's camera system. These tags provide easily detectable visual markers that facilitate precise positioning and alignment without requiring complex direct sensing or mechanical interfaces.
3Reliability
If precise alignment is required for connector mating, then charging connection reliability is improved, but the difficulty of detecting and measuring alignment increases
Solution Approach 1:
AR tags utilize distinct visual patterns and colors that are easily distinguishable by the camera system. These visual markers provide high-contrast, easily detectable features that simplify the detection and measurement of alignment status compared to subtle mechanical or electrical signals.
Data Source
AI summary
An apparatus, system and method of operating an autonomous mobile robot having a height of at least one meter, which may include a robot body; at least two three-dimensional depth camera sensors affixed to the robot body and directed toward a major floor surface from the affixation; 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.