Delivery Robot Vision Control for Revolving Door Navigation
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Solution Overview
Problem
Delivery robots face challenges in navigating through revolving doors without communication connections, as they lack the necessary information to safely pass through due to varying communication protocols and the absence of sensing capabilities for revolving doors.
Innovation Solution
Equipping delivery robots with a sensing unit, including image sensors, to detect features of revolving doors such as rotational speed, door blade number, and entry/exit paths, allowing them to autonomously navigate through without communication connections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If communication devices are added to enable communication between the delivery robot and revolving door, then information exchange capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces the communication-based information exchange system with a vision-based sensing system. The delivery robot uses image sensors to detect and recognize revolving door features (door blades, rotation axis, rotation direction) and obtains necessary navigation information through image processing algorithms, eliminating the need for communication devices and protocols
Solution Approach 2:
The delivery robot independently extracts rotation direction and other critical information by processing images captured from its own sensors. The system performs self-navigation through autonomous image analysis without requiring external information provision from the revolving door or communication infrastructure
2Adaptability or versatility
If communication protocols are customized for each revolving door manufacturer, then communication compatibility is improved, but ease of manufacture and implementation deteriorate
Solution Approach 1:
The patent implements a universal image-based recognition system that can identify and navigate through revolving doors from different manufacturers without requiring manufacturer-specific communication protocols. The vision system extracts general geometric features (door blades, rotation axis) that are common across different revolving door designs, enabling broad compatibility
Solution Approach 2:
The patent replaces the complex communication protocol adaptation requirement with a universal vision-based recognition system. By substituting communication-based information exchange with image processing, the system achieves manufacturer-agnostic compatibility without requiring custom protocol development for each vendor
3Ease of operation
If the delivery robot moves to a preset sensing location to open automatic doors, then ease of operation is improved, but adaptability to revolving doors deteriorates
Solution Approach 1:
The patent transitions from a static sensing location approach to a dynamic navigation approach. The delivery robot continuously tracks the revolving door's rotation and dynamically adjusts its movement trajectory in real-time, allowing it to pass through the rotating door blades by calculating safe passage timing and position based on observed rotation patterns
Solution Approach 2:
The delivery robot performs preliminary detection of revolving door features (number of door blades, rotation direction, rotation speed) before attempting to pass through. This preliminary information gathering enables the robot to plan its navigation strategy in advance, determining the optimal entry timing and path based on the detected door configuration
Data Source
AI summary
A delivery robot can include an image sensor; a drive par; and a controller configured to detect a revolving door from an image in front of the delivery robot, detect a feature of at least one door blade of a revolving door from the image, generate an entry path including an initial location of the delivery robot and an entry time point for entering into the revolving door, and generate a departure path including a departure time point and a departure point for exiting from the revolving door, and control the drive part to move the delivery robot along the entry path and the departure path to pass through the revolving door.