Mobile Robot Camera Layout for Positioning and Obstacle Avoidance
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Solution Overview
Problem
Existing mobile robots face challenges in simultaneous obstacle avoidance and positioning, as they cannot capture feature objects on the horizontal plane with cameras oriented obliquely upward, requiring additional distance measuring sensors and limiting adaptability to environmental changes.
Innovation Solution
The camera optical axis is arranged parallel to the horizontal plane, enabling binocular parallax-based positioning and obstacle avoidance without additional sensors, allowing the robot to capture feature objects on the horizontal plane and differentiate between obstacle and non-obstacle objects through image processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera optical axis is oriented obliquely upward for positioning, then positioning capability is improved, but the ability to capture feature objects on the horizontal plane deteriorates
Solution Approach 1:
The patent introduces a rotating mechanism that enables the camera to operate in multiple dimensional orientations. The camera can rotate between an oblique upward orientation (for positioning using ceiling/wall features) and a horizontal orientation (for capturing objects on the ground plane), effectively adding temporal and angular dimensions to the imaging capability.
Solution Approach 2:
The camera orientation is made dynamic through the rotating mechanism, allowing the system to adapt its viewing angle based on the operational requirement. The camera can dynamically switch between fixed oblique upward orientation for positioning and horizontal orientation for obstacle detection, making the system versatile rather than static.
2Reliability
If additional distance measuring sensors are added for obstacle avoidance, then obstacle detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The camera serves multiple functions: it performs positioning when oriented obliquely upward and obstacle detection when oriented horizontally. This multi-functionality eliminates the need for separate distance measuring sensors, as the same imaging device handles both positioning and obstacle avoidance tasks through rotational reorientation.
Solution Approach 2:
The patent merges the positioning function and obstacle detection function into a single camera system. By combining these functions in one device that can rotate between orientations, the system reduces component count and complexity while maintaining both capabilities.
3Measurement precision
If the camera captures images for positioning, then positioning is achieved, but simultaneous obstacle avoidance on the horizontal plane cannot be performed
Solution Approach 1:
The camera performs periodic rotation between oblique upward orientation (for positioning imaging) and horizontal orientation (for obstacle avoidance imaging). This periodic switching allows the system to gather positioning data and obstacle data in alternating sequences, achieving both functions over time without requiring simultaneous operation.
Solution Approach 2:
The camera can capture positioning images in advance when oriented obliquely upward, then rotate to capture obstacle avoidance images when oriented horizontally. The preliminary positioning information is obtained before obstacle detection, allowing the system to plan its navigation based on pre-acquired spatial information.
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
This configuration allows for accurate simultaneous obstacle avoidance and positioning, reducing costs by eliminating the need for additional sensors and enhancing adaptability to changing environments by capturing dynamic objects on the horizontal plane.
Implementation Method 1
enabling binocular parallax-based positioning and obstacle avoidance
Data Source
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AI summary
A mobile robot (1) is provided. The mobile robot includes: a driving mechanism configured to drive the mobile robot to move; a chassis (10) on which the driving mechanism is mounted; and a camera mainboard (20), on which a camera module (210) is provided. The camera module (210) is configured to obtain an external environment image and has at least two optical axes. The camera mainboard (20) is arranged on the chassis (10) such that each of the at least two optical axes is parallel to a horizontal plane.