Mobile Robot Marker-Based Task Boundary Control for Docking Errors
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Solution Overview
Problem
Mobile robots face challenges in setting a stable task area boundary due to varying task spaces, leading to docking errors and inability to utilize robot coordinate system-based task area restrictions.
Innovation Solution
An electronic device with a camera and processor system that sets a task area boundary by capturing marker images, establishing a reference coordinate system, and defining task boundaries using marker images, allowing operation within these boundaries without requiring pre-stored task place information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If mobile robot uses separate reference coordinate system through marker recognition in every task space, then task performance is enabled in various spaces, but robot task area restriction information based on robot coordinate system cannot be utilized
Solution Approach 1:
The patent applies preliminary action by pre-defining task area boundaries in the robot's coordinate system before mobile operation. The boundary information is stored in advance and can be directly applied when the robot docks at different task spaces, eliminating the need to re-establish boundaries through marker recognition in each new location.
Solution Approach 2:
The patent makes the robot coordinate system-based task area restriction universally applicable across multiple task spaces. By expressing boundaries in the robot's own coordinate system rather than task-space-specific markers, the same restriction mechanism works in all task spaces without modification.
2Productivity
If mobile robot docks in predetermined place with tiny error, then task performance can proceed, but docking error causes failure in achieving task with respect to robot coordinate system
Solution Approach 1:
The patent changes the reference parameter from absolute docking position to relative task area boundary definition. Instead of requiring precise docking to a fixed coordinate, the system defines task area boundaries that can accommodate positioning variations, making the task area determination robust to docking errors.
3Reliability
If robot arm is fixed in safe fence with program settings, then worker and facilities are protected from sudden movements, but mobile robot cannot work in various spaces
Solution Approach 1:
The patent applies dynamics by making the task area boundary definition adaptable to mobile operation. Instead of a fixed physical fence, the system uses software-defined boundaries in the robot coordinate system that can be applied across multiple task spaces, providing safety protection while enabling mobile versatility.
Data Source
AI summary
According to an embodiment, an electronic device comprises: a moving member comprising a motor, an operation performance member including an arm, a communication module comprising communication circuitry, a camera and at least one processor operatively connected to the moving member, the operation performance member, the communication module and the camera, wherein one or more of the at least one processor is configured to: control the moving member so that the electronic device moves to a position related to operation performance confirmed based on an operation performance command based on the operation performance command being received through the communication module, acquire a first marker image through the camera based on moving to the position, set a reference coordinate system based on the first marker image, set an operation area boundary within the reference coordinate system based on operation area boundary information acquired through a second marker image based on the second marker image being acquired through the camera, and control at least one of the operation performance members so that the same operates within the operation area boundary.