Mobile Robot Imaging Control for Adaptive Target Recognition
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Solution Overview
Problem
Autonomous mobile robots and automatic guided vehicles face challenges in recognizing markers or targets due to changes in their surrounding environment, making it difficult to maintain smooth operation without pre-learning the imaging conditions of the imaging device.
Innovation Solution
A moving body equipped with an imaging device and a recognition section that adjusts imaging conditions stepwise to recognize targets, storing optimal conditions for later use when the target is recognized, allowing recognition even in changing environments without prior learning of imaging conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the moving body uses a fixed imaging condition for recognition, then the device complexity is reduced, but the reliability deteriorates when the surrounding environment changes
Solution Approach 1:
The imaging control section dynamically adjusts imaging conditions based on recognition results. When the recognition section fails to recognize the recognition target, the imaging control section automatically changes imaging conditions (such as exposure time, gain, or focus) in a stepwise manner to adapt to varying environmental conditions, thereby maintaining recognition reliability without requiring complex pre-learning mechanisms
Solution Approach 2:
The system performs self-adjustment of imaging conditions through the imaging control section that autonomously modifies parameters based on recognition failure/detection. This self-service mechanism eliminates the need for external intervention or complex pre-programming, allowing the moving body to adapt to environmental changes independently while keeping the overall system relatively simple
2Adaptability or versatility
If the moving body pre-learns imaging conditions for all possible environments, then the adaptability is improved, but the loss of time during learning and setup increases
Solution Approach 1:
The system performs preliminary adjustment of imaging conditions on-demand when recognition failure occurs, rather than pre-learning all possible conditions. The imaging control section prepares alternative imaging parameters in advance that can be activated sequentially, enabling rapid adaptation to environmental changes without extensive pre-learning periods
Solution Approach 2:
The system achieves environmental adaptability by changing imaging parameters (such as exposure time, gain, focus distance) in a stepwise manner when the recognition section fails to detect the target. This parameter adjustment approach allows the moving body to adapt to various environments without pre-learning, as the imaging conditions are dynamically modified based on real-time recognition needs
3Reliability
If the moving body adjusts imaging conditions stepwise when recognition fails, then the reliability is improved, but the loss of time during adjustment increases
Solution Approach 1:
The imaging control section adjusts imaging conditions in a stepwise manner, making partial adjustments rather than complete re-calibration each time. This approach modifies only the necessary parameters in small steps, reducing the overall adjustment time while still achieving reliable recognition under varying conditions
Data Source
AI summary
A moving body includes an imaging device to image a recognition target, a recognition section to recognize the recognition target based on imaging data of the imaging device, an imaging control section to, when the recognition target is not recognized by the recognition section, change an imaging condition of the imaging device stepwise so that the recognition target is recognized by the recognition section, store the imaging condition when the recognition target is recognized by the recognition section in a storage device, and, when the recognition target or another recognition target is imaged by the imaging device under the same or similar situation, apply the imaging condition stored in the storage device.