360° Depth Camera Navigation for Close-Range Robot Obstacle Detection
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Solution Overview
Problem
Autonomous robots operating in indoor environments face challenges in navigation due to obstacles at various altitudes and lack of structured navigational aids, especially when interacting with untrained personnel or the general public, leading to inadequate obstacle detection and safety concerns.
Innovation Solution
The use of at least two three-dimensional depth camera sensors affixed to the robot body, providing a 360-degree field of view of the floor, combined with a processing system that receives and processes pixel data to differentiate between obstacles, the robot's body, and its shadow, enabling accurate obstacle detection and improved path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional obstacle sensors are used on autonomous robots, then obstacle detection capability is provided, but detection accuracy is insufficient due to obstacles at various altitudes and distance from floor
Solution Approach 1:
The patent transitions from traditional floor-level sensor placement to mounting depth camera sensors at the top of the robot body. This dimensional change in sensor positioning enables detection of obstacles at various altitudes and provides a broader field of view, resolving the contradiction between detection accuracy and device complexity by achieving comprehensive obstacle detection from a single elevated position.
2Area of stationary object
If depth camera sensors are mounted at robot height, then field of view is improved, but difficulty in distinguishing robot body and shadow from obstacles increases
Solution Approach 1:
The patent applies preliminary action by capturing reference images of the robot body and its shadow before obstacle detection begins. These reference patterns are stored and used during operation to subtract or mask out the robot's own appearance from the depth camera feed, enabling clear differentiation between the robot body/shadow and actual obstacles in the environment.
3Adaptability or versatility
If autonomous robots operate in unstructured environments, then operational versatility is improved, but navigation safety deteriorates due to lack of navigational aids
Solution Approach 1:
The patent replaces reliance on mechanical navigational aids (markers, tracks, structured environments) with optical depth sensing technology. The depth camera sensors and image processing system enable the robot to navigate unstructured environments by detecting obstacles through depth mapping and pattern recognition, achieving both environmental versatility and navigation safety without requiring pre-installed navigational infrastructure.
Data Source
AI summary
An apparatus, system and method of operating an autonomous mobile robot having a height of at least one meter. The robot body; at least two three-dimensional depth camera sensors affixed to the robot body proximate to the height, wherein the sensors are directed toward a floor surface and, in combination, comprise a substantially 360 degree field of view of the floor surface around the robot body; and a processing system for receiving pixel data within the field of view of the sensors; obtaining missing or erroneous pixels from the pixel data; comparing the missing or erroneous pixels to a template, wherein the template comprises at least an indication of ones of the missing or erroneous pixels indicative of the robot body and a shadow of the robot body; and outputting an indication of obstacles in or near the field of view based on the comparing.