Working Robot Position Mapping for GNSS-Denied Navigation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing working robot systems face increased costs and inability to control autonomous travel due to the need for high-capacity memory to store map information and the limitations of positioning devices, especially in areas with difficult radio wave reception, leading to incomplete area mapping and navigation issues.
Innovation Solution
A working robot system comprising a working robot with self-position detectors, an imaging apparatus, and a controller that integrates self-position information from multiple sources, including GNSS and beacon receivers, to assign position information to captured images, enabling autonomous travel even in areas where satellite positioning is unavailable by using a controller to process and convert pixel coordinates to absolute coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If map information is stored in high-capacity memory, then complete area mapping is achieved, but system cost increases
Solution Approach 1:
The patent extracts the positioning information assignment function from the traditional map storage approach. Instead of storing complete map information in high-capacity memory, the system only stores captured images and assigns position information to them through coordinate conversion, eliminating the need for large memory capacity while maintaining complete area mapping capability
Solution Approach 2:
The patent creates a virtual map by assigning position information to captured images through coordinate conversion between pixel coordinates and absolute coordinates. This virtual representation copies the essential positioning functionality without requiring physical storage of complete map data, reducing memory requirements while maintaining mapping completeness
2Measurement precision
If satellite positioning is used, then position information is acquired, but areas with difficult radio wave reception cannot be covered
Solution Approach 1:
The patent introduces an intermediary coordinate conversion mechanism that translates pixel coordinates from captured images into absolute coordinates using position information from working robots at specific locations. This intermediary process enables position information assignment in areas where direct satellite positioning is unavailable, expanding coverage while maintaining accuracy through the conversion relationship
Solution Approach 2:
The patent creates a universal positioning system that functions both in satellite-covered areas and in areas with difficult radio wave reception. The coordinate conversion mechanism serves multiple functions: it works where GPS is available and also enables positioning where GPS is unavailable, making the system adaptable to all terrain types without requiring separate positioning systems
3Adaptability or versatility
If beacon receivers are added to working robots, then position information can be acquired in satellite-denied areas, but device complexity increases
Solution Approach 1:
The patent merges the beacon receiving function with the existing working robot system. The beacon receivers are integrated into the working robots that are already present in the system, allowing them to provide position information for coordinate conversion. This merging approach enables positioning in satellite-denied areas without adding separate dedicated positioning infrastructure, thus limiting the increase in overall system complexity
Data Source
AI summary
A working robot system including a working robot configured to output its self-position information on a field, an imaging apparatus configured to capture an image of the field, and a controller configured to acquire the image of the field captured by the imaging apparatus and the self-position information output by the working robot is provided. Based on the position of the working robot on the captured image and the self-position information output by the working robot, the controller assigns position information to the remaining parts of the captured image.