Offset Monocular Sensing for Robot Travel Distance Estimation
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Solution Overview
Problem
Existing robots face challenges in accurately determining distance traveled without relying on odometry, which can be costly and complex, especially for semi-autonomous or fully autonomous systems that require precise localization and mapping.
Innovation Solution
A semi-autonomous robot with a monocular detection unit and a fixed rotation axis, equipped with a control and/or regulating unit that determines a distance conversion parameter based on the rotation of the detection unit relative to the axis, allowing for odometry-free distance measurement using image processing and epipolar geometry methods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If odometry is used to determine distance traveled, then measurement capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces mechanical odometry systems with an optical/image processing-based distance determination system. The control unit calculates distance traveled by processing images from the detection unit and applying geometric relationships, eliminating the need for mechanical encoders or complex sensor arrays while maintaining measurement accuracy
Solution Approach 2:
The patent introduces an image-based intermediary measurement approach. Instead of directly measuring distance through mechanical means, the system uses images of the environment captured by the detection unit as an intermediary to calculate distance traveled through image processing and geometric analysis
2Measurement precision
If a detection unit is positioned at a distance from the rotation axis, then distance determination accuracy is improved, but device complexity increases
Solution Approach 1:
The patent transitions from one-dimensional linear distance measurement to two-dimensional angular measurement. By positioning the detection unit at a distance from the rotation axis and measuring the angle of rotation, the system converts linear distance problems into angular measurement problems, simplifying the mechanical structure while improving measurement capabilities
Solution Approach 2:
The patent changes the measurement parameter from direct linear distance to angular displacement. The control unit determines the distance conversion parameter as a function of the angle of rotation, allowing accurate distance measurement through angular measurement rather than requiring complex linear measurement mechanisms
Data Source
Figure 1
Figure 2a~2b
Figure 3a
AI summary
The invention is based on a robot, in particular a semi-autonomous robot, having at least two driven means of transport (22a; 22b), in particular wheels, having a capture unit (14a; 14b), in particular a monocular capture unit, wherein the at least two means of transport (22a; 22b) are provided for the purpose of rotating at least the capture unit (14a; 14b) about an axis of rotation (24a; 24b) arranged at a position which is fixed relative to the capture unit (14a; 14b), wherein the capture unit (14a; 14b) and the axis of rotation (24a; 24b) are arranged at a distance from one another, and having at least one control and/or regulating unit (18a; 18b) for determining a distance (26a; 26b) covered. It is proposed that the control and/or regulating unit (18a; 18b) is configured to determine, on the basis of a movement of the capture unit (14a; 14b) about the axis of rotation (24a; 24b), which is stationary during the movement, in particular at a known distance (60a; 60b) from the axis of rotation (24a; 24b) and/or in a known orientation relative to the axis of rotation (24a; 24b), a distance conversion parameter which is provided for the purpose of determining the distance (26a; 26b) covered.