Visual Marker Charging Station for Accurate Lawn Robot Docking
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Solution Overview
Problem
Existing lawnmowing robots face challenges in accurately returning to a charging station due to issues with GPS positioning and electromagnetic guiding wires, which are costly and prone to environmental noise interference, leading to instability and high material costs.
Innovation Solution
A charging station equipped with feature markers that allow image identification by the robot to determine its relative pose, using image frames collected by an image collection apparatus to guide accurate docking without additional guiding wires or GPS reliance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS positioning and electromagnetic guiding wires are used for station-returning, then positioning accuracy is improved, but material cost and device complexity increase
Solution Approach 1:
The patent extracts the essential positioning function from complex GPS and electromagnetic wire systems, retaining only the necessary marker-based visual identification elements. This reduces device complexity while maintaining positioning accuracy by eliminating unnecessary components like electromagnetic guiding wires and GPS receivers.
Solution Approach 2:
The patent uses visual markers that create a simplified copy of the positioning information needed for station-returning. Instead of complex electromagnetic or satellite-based systems, simple visual patterns are copied onto the ground and recognized by the robot's vision system, achieving accurate positioning with minimal hardware.
2Measurement precision
If electromagnetic guiding wires are arranged in base plate, then station-returning accuracy is improved, but material cost and transportation cost increase
Solution Approach 1:
The patent replaces expensive electromagnetic guiding wires with inexpensive visual markers that can be easily manufactured and deployed. These markers are simple printed patterns or painted symbols on the ground, costing fraction of the material and installation cost of electromagnetic wire systems.
Solution Approach 2:
The patent substitutes the electromagnetic field-based guiding wire system with a visual optics-based marker recognition system. The robot uses its camera and image processing algorithms to detect markers and calculate position, replacing the mechanical/electromagnetic infrastructure with a software-based solution.
3Extent of automation
If infrared or ultrasonic induction station-returning is used, then automatic return function is achieved, but reliability decreases due to false touch and environmental noise
Solution Approach 1:
The patent introduces visual markers as an intermediary between the robot and charging station, creating a stable reference frame that is not affected by environmental noise. The markers serve as a reliable mediator that the robot's vision system can detect consistently, regardless of infrared or ultrasonic interference from the environment.
Solution Approach 2:
The patent uses distinct visual patterns and colors on markers that are easily distinguishable by the robot's camera. The markers employ high-contrast color schemes and unique geometric patterns that remain detectable under varying lighting conditions, providing reliable automatic return functionality不受 environmental noise interference.
Data Source
AI summary
A charging station, a charging station system, a method and apparatus for returning to a charging station and a lawn mowing robot are provided. Feature markers are provided on the charging station, and the lawn mower can acquire pose information of the feature markers through its own image identification, so that relative pose information between the charging station and the lawn mower may be determined for path planning, enabling the lawn mower to realize station-returning and charging. The cost is low, and the structure is simple and easy to install and dismantle, since only the feature markers need to be provided on the charging station.