Sampling System With Projector Camera Obstacle Avoidance
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Solution Overview
Problem
Existing sampling methods on ground surfaces using work machines face challenges in detecting small obstacles due to low detection precision of sensors, which leads to lengthy processing times and potential damage from small stones or irregularities.
Innovation Solution
A sampling method and system that utilize a first sensor for wide-area topographical information to select a candidate area and set a movement route, with a second sensor on the arm's distal end to project a reference mark and capture images, allowing for precise obstacle avoidance and sampling point specification without contact, using a projector and camera to adjust the sampling point based on the projected reference mark's shape and size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the detection precision of the sensor is set high to detect small obstacles, then the ability to detect small obstacles is improved, but the processing time becomes lengthy
Solution Approach 1:
The patent divides the detection process into two segments: first, a wide-area sensor performs low-precision detection to identify potential obstacle zones; second, a high-precision sensor focused on those specific zones performs detailed detection. This segmentation allows the system to maintain high detection precision for small obstacles while reducing overall processing time by limiting high-precision analysis to only necessary areas.
Solution Approach 2:
The patent performs preliminary detection using a wide-area sensor before conducting detailed high-precision detection. By first identifying areas of interest and then applying high-precision detection only to those specific regions, the system prepares in advance which areas require detailed analysis, thereby reducing total processing time while maintaining detection precision for small obstacles.
2Measurement precision
If the sensor maintains wide detection range with high detection precision, then the ability to detect small obstacles is improved, but the sampling cannot be performed speedily
Solution Approach 1:
The patent segments the detection system into two parts: a wide-area sensor for initial screening and a focused high-precision sensor for detailed detection. This allows the system to maintain both wide detection range and high detection precision simultaneously without sacrificing sampling speed, as high-precision detection is applied selectively rather than across the entire wide area.
Solution Approach 2:
The wide-area sensor performs preliminary detection to identify candidate areas before the high-precision sensor conducts detailed detection. This preliminary action enables the system to maintain wide detection range while achieving high detection precision only where necessary, thereby preserving sampling speed without compromising the ability to detect small obstacles.
3Device complexity
If the arm moves directly to the sampling point, then the sampling process is simplified, but the arm may come into contact with obstacles causing damage
Solution Approach 1:
The patent performs preliminary detection of obstacles using sensors before the arm executes its movement to the sampling point. By identifying obstacles in advance and planning a safe movement route based on this preliminary information, the system can move the arm directly to the sampling point without complex real-time avoidance maneuvers, thereby simplifying movement control while ensuring equipment safety.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables speedy inspection and sampling while avoiding small stones and other obstacles, ensuring efficient and accurate sampling point specification, reducing equipment damage and processing time.
Implementation Method 1
a projector configured to project a reference mark onto the ground surface
Implementation Method 2
a camera configured to capture an image of the reference mark that is displayed on the ground surface by projection
Data Source
AI summary
A sampling system includes a sampler, a projector, a camera, an arm, and a controller with the sampler, projector, and camera being located at the distal end of the arm. The projector projects a reference mark including a line with a predetermined shape onto a ground surface and the camera captures images of the projected mark. The controller is configured to obtain the size of the projected line based on the camera images. The controller adjusts the projector height position based on the line size and specifies a sampling point for inserting the sampler based on the camera images of the projected mark.