Work Robot Field Mapping for Navigation Without Satellite Coverage
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Solution Overview
Problem
Existing working robot systems face increased system costs due to the need for high-capacity memory and positioning devices on imaging devices, and they struggle to maintain autonomous travel when radio wave reception is poor, leading to incomplete map coverage.
Innovation Solution
A working robot system that utilizes an imaging apparatus to capture images, a controller to process and convert pixel coordinates to satellite coordinates, and a self-position detector to integrate self-position information, allowing autonomous travel even in areas where satellite positioning is unavailable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a positioning device is mounted on the imaging device to acquire position information, then position information can be obtained for map production, but system cost increases due to high-capacity memory and additional positioning devices
Solution Approach 1:
The patent uses the working robot as a mobile copying device - the imaging device captures images of the field, and the robot's self-position information serves as a reference copy to establish coordinate relationships. Instead of mounting positioning devices on the imaging device, the system copies the robot's known position data to infer positions of other objects in the captured images, thereby reducing system cost while maintaining measurement precision
Solution Approach 2:
The patent introduces the working robot as an intermediary element between the imaging device and the positioning system. The robot's self-position detector provides reference position information that mediates the relationship between the captured images and the map coordinate system, eliminating the need for direct positioning device mounting on the imaging device while still enabling accurate map production
2Reliability
If a positioning device is mounted on the imaging device to acquire position information, then complete map coverage can be achieved, but system cost increases
Solution Approach 1:
The system copies the working robot's self-position information to serve as reference data for map production. By using the robot's known position at different working locations as reference points, the system can infer positions of features in captured images and produce complete map coverage without requiring additional positioning devices on the imaging device, thereby reducing system cost while maintaining reliability
Solution Approach 2:
The working robot serves multiple functions: it performs field work tasks, captures images through the imaging device, and provides self-position information for map production. This multi-functionality eliminates the need for separate positioning devices dedicated solely to map production, reducing overall system cost while ensuring complete map coverage through the robot's movement across different field locations
3Measurement precision
If the working robot relies on satellite positioning for autonomous travel, then navigation accuracy is maintained, but autonomous travel fails in areas with poor radio wave reception
Solution Approach 1:
The patent performs preliminary actions by capturing images and recording self-position information at multiple locations before needing navigation in poor reception areas. The map production unit creates a preliminary map with coordinate relationships established from these preliminary position data, enabling the robot to navigate using the pre-established map even when satellite positioning is unavailable during actual travel
Solution Approach 2:
The system copies position information from areas with good satellite reception to areas with poor reception. By using the working robot's self-position data from locations where satellite signals are available as reference copies, the system can infer positions and navigate accurately in areas where direct satellite positioning fails, thereby improving adaptability while maintaining navigation accuracy
Data Source
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AI summary
The present invention suppresses system costs and allows a work robot to achieve proper autonomous travel even when location information cannot be acquired for some places. According to the present invention, a work robot system comprises a work robot that outputs a self location within a field, a photography device that photographs the field, and a control device that acquires the self location outputted by the work robot and a photographed image of the field as photographed by the photography device. On the basis of the self position outputted by the work robot and the location of the work robot within the photographed image, the control device adds location information to other locations within the photographed image.