Continuum Robot Camera Ring Sensing for Calibration-Free Tip Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing continuum robots face challenges in accurately determining the position of their tips without complex calibration processes, which limits their utility in confined and delicate environments.
Innovation Solution
A camera-based sensing system with forward- and side-facing cameras mounted on a ring system around the continuum robot, coupled with optical markers and LED illumination, processes images to determine the robot's shape and position in real-time without requiring pre-calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional position sensing methods (string gauges, electromagnetic tracking, vision-based systems) are used, then position measurement capability is provided, but calibration time and system complexity increase significantly
Solution Approach 1:
The camera ring system performs self-calibration by automatically detecting optical markers on the robot body and computing its own pose without requiring external calibration equipment or manual calibration procedures. The system uses the known geometry of the camera ring and markers to self-determine position and orientation.
Solution Approach 2:
The patent replaces complex mechanical calibration systems (string gauges, electromagnetic trackers) with an optical vision-based system that uses camera rings and optical markers. This substitution eliminates the need for physical calibration apparatus and manual calibration procedures.
2Productivity
If camera ring systems with multiple cameras are used, then real-time position monitoring capability is improved, but device complexity increases
Solution Approach 1:
Multiple cameras are merged into a single integrated camera ring system that functions as one unified sensing unit. The camera ring is mounted as a single assembly on the robot, and all cameras work together to provide comprehensive position monitoring through a single processing system.
Solution Approach 2:
The camera ring system serves multiple functions simultaneously: it provides position measurement, orientation detection, and real-time monitoring. The same camera ring structure used for position sensing also serves as a mounting structure for optical markers and illumination devices.
3Adaptability or versatility
If the robot operates in confined spaces with high dexterity requirements, then task capability is improved, but position detection difficulty increases
Solution Approach 1:
The camera ring system is segmented into multiple individual cameras arranged around the robot body, with each camera providing a specific view. This segmentation allows the system to detect position and orientation from multiple angles simultaneously, making it easier to track the robot in confined spaces.
Solution Approach 2:
Optical markers serve as intermediaries between the camera system and the robot body. These markers provide known reference points that facilitate accurate position and orientation calculation, making the detection process simpler and more reliable in confined environments.
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
Provides accurate, real-time monitoring of the robot's tip position, enabling precise control and navigation in confined spaces without the need for extensive calibration, enhancing the robot's dexterity and safety.
Implementation Method 1
at least one camera ring system mounted to the continuum robot, the camera ring system having at least two forward-facing cameras that face along the axis of the robot towards the tip
Implementation Method 2
The tip may be further provided with an LED illumination system
Data Source
AI summary
A sensing system for a continuum arm robot, the sensing system comprising at least one camera ring system mounted to the continuum robot, the camera ring system having at least two forward-facing cameras that face along the axis of the robot towards the tip.