Projected Pattern Navigation for Closed-Space Inspection Robots
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Solution Overview
Problem
Existing robot navigation systems in closed spaces rely on expensive sensors like accelerometers and gyroscopes, which require frequent recalibration and are prone to errors due to environmental changes, and lack effective visual reference frames in uniform-colored or textured surfaces.
Innovation Solution
A system using a base station that projects a pattern onto a projection surface, allowing a robot to determine its location and capture image data, which is then transmitted to an external device for display, enabling remote visual inspection and mapping of closed spaces without the need for costly sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If expensive sensors like accelerometers and gyroscopes are used for robot navigation, then location determination capability is improved, but system cost increases
Solution Approach 1:
The patent replaces expensive mechanical sensors (accelerometers and gyroscopes) with an optical system consisting of a projector that projects patterns onto the environment and a camera that captures images of these patterns. The robot determines its location by analyzing the geometric transformation between projected patterns and captured images, eliminating the need for costly inertial sensors while maintaining location determination capability.
2Measurement precision
If visual reference frames are used in uniform-colored or textured surfaces, then location determination is improved, but the uniform surfaces provide little or no identifying characteristics
Solution Approach 1:
The patent applies preliminary action by projecting a known pattern onto the uniform surface before the robot attempts to determine its location. The projector creates artificial visual reference frames (patterns with identifiable geometric features) on surfaces that would otherwise lack such characteristics. The robot then captures images of these pre-projected patterns and uses geometric transformation analysis to accurately determine its position, effectively adding identifying characteristics to uniform surfaces in advance of the measurement process.
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
Enables efficient and cost-effective remote visual inspection of closed spaces by allowing robots to navigate and image environments using projected patterns, reducing the reliance on expensive sensors and improving location determination and mapping accuracy.
Implementation Method 1
a base station that projects a pattern onto a projection surface
Implementation Method 2
allowing a robot to determine its location and capture image data
Data Source
AI summary
A system for remote visual inspection of a closed space includes a base station including a distance finder and a light emitter. The base station determines a distance to a projection surface using the distance finder and projects a pattern onto the projection surface of the closed space at a projection location on the projection surface. A robot includes a moveable base supporting an imaging device, a processor, and a storage device storing one or more non-transitory, processor-readable instructions. When executed by the processor, the instructions cause the robot to detect the pattern with the imaging device, determine a location of the robot with respect to the base station based on the pattern, and capture image data of the closed space. An external electronic device is communicatively coupled to the robot. The external electronic device receives image data and displays one or more images based on the image data.