Robot Heading Guidance Using Asymmetric Wall Light Patterns
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Solution Overview
Problem
Mobile robots face challenges in automatically maintaining a desired heading relative to their environment, such as walls, due to the lack of effective sensing and adjustment mechanisms.
Innovation Solution
A robotic device equipped with a camera and collimated light emitters that project patterns onto surfaces, allowing the processor to analyze image distortion and adjust the robot's heading by emitting and capturing light patterns, and using machine learning to refine the heading adjustment process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mobile robot uses traditional sensing mechanisms to detect environmental features, then it can identify walls and obstacles, but it cannot accurately maintain a desired heading relative to these features
Solution Approach 1:
The patent introduces light emitters as an intermediary tool between the robot and the wall. The emitters project a light pattern onto the wall surface, and the camera captures the reflected light to determine the robot's heading relative to the wall. This intermediary light-based measurement system enables precise heading detection that traditional sensors cannot achieve.
2Reliability
If the robot continuously adjusts its heading based on environmental feedback, then it can maintain accurate orientation, but the system complexity increases
Solution Approach 1:
The robot performs self-correction of its heading by autonomously detecting asymmetry in the light pattern and adjusting its orientation accordingly. The system uses its own camera and light emitters to generate feedback, and the processor automatically computes the required heading adjustment without external intervention, thereby maintaining reliability while managing complexity through self-sufficiency.
Solution Approach 2:
The patent implements a closed-loop feedback system where the camera continuously monitors the light pattern on the wall, the processor analyzes the pattern to detect heading deviations, and the robot adjusts its orientation based on the detected asymmetry. This continuous feedback mechanism ensures reliable heading maintenance by constantly comparing the actual heading with the desired heading and correcting deviations.
3Measurement precision
If the robot uses asymmetric light patterns to determine heading, then it can detect orientation relative to walls, but the manufacturing precision requirements increase
Solution Approach 1:
The patent deliberately uses asymmetric light patterns projected onto the wall to encode directional information. The asymmetry in the light pattern reflects the robot's orientation relative to the wall, allowing the camera to detect heading by analyzing the asymmetric distribution of reflected light. This approach enables orientation detection without requiring high manufacturing precision, as the asymmetry is intentionally designed rather than being a result of manufacturing tolerances.
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
The system enables the robotic device to accurately maintain a desired heading relative to environmental features, improving navigation and task execution by continuously adjusting its orientation based on environmental feedback.
Implementation Method 1
causing the camera to capture one or more images of an environment of the robotic device
Data Source
AI summary
A tangible, non-transitory, machine readable medium storing instructions that when executed by an image processor effectuates operations including: causing the camera to capture one or more images of an environment of the robotic device; receiving, with the image processor, one or more multidimensional arrays including at least one parameter that describes a feature included in the one or more images, wherein values of the at least one parameter correspond with pixels of a corresponding one or more images of the feature; determining, with the image processor, an amount of asymmetry of the feature in the one or more images based on at least a portion of the values of the at least one parameter; and, transmitting, with the image processor, a signal to the processor of the controller to adjust a heading of the robotic device by an amount proportional to the amount of asymmetry of the feature.