Robot Distance Sensing With 2D Camera and 1D Laser Reference
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Solution Overview
Problem
Current robots face challenges in accurately determining the distance to surrounding objects without relying on expensive 3D sensors, which is crucial for safe navigation and operation.
Innovation Solution
A robot system that combines a 2D camera with a 1D distance sensor, utilizing computer-executable instructions to calculate relative depths from 2D images and determine object distances based on reference distances from the 1D sensor, allowing for accurate navigation without expensive 3D sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a 3D sensor is used to calculate the distance to objects, then the distance measurement precision is improved, but the cost of the robot increases
Solution Approach 1:
The patent combines a 2D camera and a 1D distance sensor into an integrated system. The 2D camera captures image data while the 1D distance sensor measures distance to a reference point, and their data are fused through coordinate transformation to calculate distances to multiple points, achieving accurate depth measurement without using expensive 3D sensors
Solution Approach 2:
The patent introduces a reference point as an intermediary element. The 1D distance sensor measures distance to this reference point, and through coordinate transformation, this reference measurement is used to calculate distances to other points in the image, enabling indirect distance measurement to multiple objects
2Device complexity
If only a 1D distance sensor is used to detect objects, then the device complexity is reduced, but the measurement precision of object distances deteriorates
Solution Approach 1:
The patent merges the capabilities of a 2D camera (providing spatial information) and a 1D distance sensor (providing accurate distance to reference point) into a unified measurement system. This combination allows the system to calculate distances to multiple points while maintaining relatively simple device architecture
Solution Approach 2:
The patent transforms the 1D distance measurement from the distance sensor into 2D/3D spatial information through coordinate transformation. By establishing correspondence between the 1D measurement and 2D image coordinates, the system extends single-point distance measurement to multi-point depth mapping
3Device complexity
If only a 2D camera is used to recognize objects, then the device complexity is reduced, but the measurement precision of object distances deteriorates
Solution Approach 1:
The patent combines image data from a 2D camera with distance measurements from a 1D distance sensor. The camera provides visual information and coordinate mapping, while the distance sensor provides accurate range data, and their fusion enables precise distance calculation to multiple objects
Solution Approach 2:
The patent uses coordinate transformation as an intermediary process to bridge the 2D image space and the 1D distance measurement. This transformation establishes the relationship between image coordinates and real-world distances, enabling the camera to indirectly measure distances through the distance sensor's reference measurement
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 solution enables accurate distance determination to surrounding objects, enhancing the robot's ability to navigate safely and efficiently, while reducing costs associated with 3D sensor technology.
Implementation Method 1
obtain a reference distance to a point to which a laser output from the 1D distance sensor is irradiated
Data Source
AI summary
A robot includes a 2D camera, a 1D distance sensor, a driving module configured to move the robot, and at least one processor. The at least one processor is configured to: obtain a 2D image by controlling the 2D camera; calculate relative depths of actual regions indicated by pixels in the 2D image, based on the obtained 2D image; obtain a reference distance to a point to which a laser output from the 1D distance sensor is irradiated; determine a distance from the robot to the object in the 2D image based on the obtained reference distance and a relative depth of a reference point corresponding to the point to which the laser is irradiated among the pixels in the 2D image; and travel based on the determined distance to the object.