US 12,353,217 B2
Accuracy measurement method of autonomous mobile vehicle, calculating device, and autonomous mobile vehicle
Po-Cheng Chen, New Taipei (TW); Kao-Pin Lin, New Taipei (TW); and Liang-Chin Wang, New Taipei (TW)
Assigned to AXIOMTEK CO., LTD., New Taipei (TW)
Filed by Axiomtek Co., Ltd., New Taipei (TW)
Filed on Feb. 6, 2023, as Appl. No. 18/105,934.
Claims priority of application No. 111143866 (TW), filed on Nov. 17, 2022.
Prior Publication US 2024/0168484 A1, May 23, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); G06V 10/22 (2022.01); G06V 20/56 (2022.01)
CPC G05D 1/0248 (2013.01) [G05D 1/0088 (2013.01); G06V 10/225 (2022.01); G06V 20/56 (2022.01)] 11 Claims
OG exemplary drawing
 
1. An accuracy measurement method for being performed through a calculating device to measure an X-axis offset and a Y-axis offset of an autonomous mobile vehicle respectively along an X-axis direction and a Y-axis direction, the accuracy measurement method comprising:
a distance calculating step that is repeatedly performed for a predetermined number of times greater than or equal to two times, wherein the distance calculating step includes:
a controlling step that is implemented to control the autonomous mobile vehicle to move to a predetermined position;
a light beam emitting step that is implemented to control a light beam device to emit at least one light beam toward a marker so as to form at least one light spot on the marker, wherein the light beam device is disposed on one of the autonomous mobile vehicle and a periphery of the predetermined position, and the marker is disposed on another one of the autonomous mobile vehicle and the periphery of the predetermined position;
an image capturing step that is implemented to control an image capture device to capture an image of the marker so as to form a to-be-analyzed image, wherein the to-be-analyzed image includes a reference pattern image element corresponding to a reference pattern of the marker and a light spot image element corresponding to the light spot;
an image analyzing step that is implemented to analyze the to-be-analyzed image so as to obtain an X-axis distance in the X-axis direction and a Y-axis distance in the Y-axis direction of the reference pattern image element and the light spot image element; and
a converting step that is implemented to convert the X-axis distance and the Y-axis distance into an X-axis true distance and a Y-axis true distance so as to generate a measurement coordinate by using a true length and an image length of the reference pattern image element corresponding to the true length, wherein the measurement coordinate includes the X-axis true distance and the Y-axis true distance; and
a regression center calculating step that is performed by using a regression calculation to calculate a plurality of the measurement coordinates so as to obtain a regression center coordinate; and
an average calculating step that is performed by calculating the plurality of the measurement coordinates and the regression center coordinate to obtain the X-axis offset and the Y-axis offset of the autonomous mobile vehicle, wherein the regression center coordinate and each of the plurality of the measurement coordinates have a difference in the X-axis direction therebetween and a difference in the Y-axis direction therebetween, the X-axis offset is defined as an average of a plurality of the differences in the X-axis direction, and the Y-axis offset is defined as an average of a plurality of the differences in the Y-axis direction.