Robot-Centered AR Projection for Path and Object Communication
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Solution Overview
Problem
Current robotic systems face challenges in effectively communicating their intended path and interacting with objects due to a lack of intuitive navigation and object classification, which limits their efficiency and human-robot interaction.
Innovation Solution
Equipping robots with projectors and sensors to create dynamic, robot-centric augmented reality by determining voxel grid representations of their environment, assigning occupied voxels to surfaces, and modifying images to fit these surfaces, allowing for precise projection of navigation paths, object classification, and interaction information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional robotic systems are used without augmented reality, then the system complexity remains low, but the ability to communicate intended path and classify objects is insufficient
Solution Approach 1:
The patent introduces an augmented reality system as an intermediary between the robotic system and the environment. This AR system includes a projector that displays virtual information (intended path, object classifications) onto the physical environment, enabling effective communication without requiring complex changes to the core robotic system. The AR overlay acts as a mediator that translates robotic intentions into visually intuitive representations.
Solution Approach 2:
The system creates visual copies of information by projecting augmented reality overlays that represent the robot's intended path and object classifications. Instead of physically modifying the environment or using complex communication interfaces, the system projects 2D representations (copies) of navigation paths and object data onto surfaces in the environment, providing intuitive visual feedback.
2Measurement precision
If voxel grid representation and surface assignment are implemented, then navigation and object classification precision is improved, but computational requirements and processing time increase
Solution Approach 1:
The patent segments the environment into discrete voxel grid units and assigns specific surfaces within those voxels. This segmentation allows the system to process spatial information in manageable discrete units rather than continuous space, improving precision for navigation and object classification while enabling efficient computational handling through structured data organization.
Solution Approach 2:
The system performs preliminary actions by pre-determining voxel grid representations and assigning surfaces before actual navigation and classification tasks. This pre-processing of spatial data creates a ready-to-use structured representation of the environment, reducing computational burden during real-time operation and minimizing processing delays during critical navigation and object interaction moments.
3Ease of operation
If dynamic robot-centric augmented reality is implemented, then human-robot interaction is improved, but energy consumption and device complexity increase
Solution Approach 1:
The augmented reality system serves multiple functions simultaneously: it displays the robot's intended navigation path, presents object classification information, and provides contextual environmental data. By using a single projector and AR overlay system for multiple communication purposes, the patent improves human-robot interaction without requiring separate specialized systems for each function, thereby limiting the increase in energy consumption and device complexity.
Data Source
AI summary
A method includes determining a voxel grid representation of occupied voxels of an environment of a robotic device based on sensor data from a depth sensor on the robotic device. The method further includes assigning a plurality of occupied voxels from the voxel grid representation to a surface within the environment. The method additionally includes determining an image to project onto the surface with a projector on the robotic device. The method further includes modifying the image to fit the surface within the environment based on the plurality of occupied voxels assigned to the surface. The method also includes causing the projector coupled to the robotic device to project the modified image onto the surface in the environment.