Robot Structured-Light Ranging for Floor Object Recognition
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Solution Overview
Problem
Autonomous or semi-autonomous robotic devices face challenges in accurately estimating distances to objects on the floor surface and identifying object types for efficient navigation and task completion within their environment.
Innovation Solution
The robotic devices emit a light structure onto objects using a light emitter disposed at an angle relative to their work surface, capture images with an image sensor, process these images to determine object positions and types, and execute actions based on distance readings and object classifications, utilizing a processor to create digital models and path plans.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a light emitter and image sensor are used for distance estimation, then object identification capability is improved, but device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
A light emitter projects a structured light pattern (intermediary) onto the environment to enable the image sensor to capture depth information. The light pattern acts as a mediator between the sensor and the objects, allowing distance estimation without requiring complex direct measurement hardware.
Solution Approach 2:
The patent replaces traditional mechanical or direct physical measurement systems with an optical-based solution using light projection and image capture. This substitution reduces mechanical complexity while enabling precise distance measurement through computational analysis of light reflection patterns.
2Measurement precision
If multiple sensors and processing units are added for object identification, then navigation accuracy is improved, but energy consumption increases
Solution Approach 1:
The image sensor serves multiple functions: capturing visual information for object identification, measuring distance through structured light analysis, and providing data for both navigation and mapping tasks. This multi-functionality reduces the need for separate dedicated sensors, thereby lowering overall energy consumption.
Solution Approach 2:
The patent combines distance estimation and object identification functions into a single integrated processing pipeline that uses data from the light emitter and image sensor together. By merging these functions rather than implementing them separately, the system reduces redundant processing and minimizes energy usage.
3Measurement precision
If structured light projection is used for distance measurement, then measurement precision is improved, but device complexity increases due to additional optical components
Solution Approach 1:
The system varies parameters of the projected light (such as pattern geometry, wavelength, or temporal modulation) to encode depth information directly in the light structure itself. This approach eliminates the need for complex optical components by using controllable light parameters to achieve precise measurement.
Solution Approach 2:
The light emitter projects a known pattern (a digital copy of the desired measurement grid) onto the environment. By comparing the projected pattern with its captured reflection, the system calculates distance without requiring complex physical measurement instruments, essentially using a optical copy of the measurement framework.
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 precise distance estimation and object identification, allowing the robots to navigate efficiently and perform tasks effectively by avoiding obstacles and adapting their paths accordingly.
Implementation Method 1
emitting, with at least one light emitter disposed on a robot, a light structure onto objects within an environment of the robot, wherein the at least one light emitter emits the light at an angle relative to a plane normal to a work surface of the robot
Implementation Method 2
capturing, with at least one image sensor disposed on the robot, images of the light structure emitted onto the objects
Data Source
AI summary
Included is a method for estimating distance, including: emitting, with at least one light emitter disposed on a robot, a light structure onto objects; capturing, with at least one image sensor disposed on the robot, images of the light structure emitted onto the objects; identifying, with a processor, the light structure within the images; determining, with the processor, positions of elements of the light structure within the images; determining, with the processor, a characteristic relating to the objects based on positions of elements of the light structure within the images; determining, with the processor, an object class of at least one object within the images based on a comparison between features of the object extracted from the images and an object dictionary comprising various object classes and their associated features; and instructing, with the processor, the robot to execute at least one action based on the object class identified.