Mobile Robot Path Control Using Intensity and Distance Imaging
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Solution Overview
Problem
Conventional mobile robots rely on simplistic infrared sensors for line following and obstacle detection, which have limited range and require multiple sensors, making them inefficient and restrictive in placement, and often necessitate additional sensors for obstacle avoidance.
Innovation Solution
A mobile robot equipped with an image sensor that captures both intensity and distance values for a scene, allowing a single sensor to detect multiple objects and facilitate line following and obstacle detection/avoidance by analyzing image information to modify its movement path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional infrared sensors are used for line following and obstacle detection, then the robot can perform basic navigation functions, but the robot requires multiple sensors which increases device complexity and limits placement flexibility
Solution Approach 1:
The patent combines multiple sensor functions (line following detection and obstacle detection) into a single image sensor. The image sensor captures both intensity information for line following and distance information for obstacle detection, eliminating the need for separate infrared sensors and reducing overall device complexity.
Solution Approach 2:
The image sensor serves multiple functions simultaneously: it detects lines for path following through intensity analysis and detects obstacles through distance measurement. This multi-functional approach allows a single sensor to replace what would traditionally require multiple specialized sensors, improving placement flexibility.
2Reliability
If multiple specialized sensors are used for different detection functions, then each sensor can be optimized for its specific task, but the overall system requires more components and processing overhead
Solution Approach 1:
The patent merges line following detection and obstacle detection capabilities into a single image sensor system. The sensor simultaneously provides intensity data for line tracking and distance data for obstacle detection, reducing the number of components while maintaining detection reliability through integrated processing.
Solution Approach 2:
The image sensor is designed to perform multiple detection functions: it captures intensity information for line following and distance information for obstacle avoidance. This universal sensor approach maintains reliability by providing comprehensive environmental awareness through a single multi-functional component.
3Length of stationary object
If conventional infrared sensors with limited range are used, then the robot can detect nearby features, but the detection range is restricted and placement options are limited
Solution Approach 1:
The patent replaces conventional infrared sensors with an image sensor that uses optical imaging principles. This substitution enables extended detection range through optical zoom capabilities and provides greater placement flexibility since the image sensor can be positioned at various angles and locations to optimize both line following and obstacle detection performance.
Data Source
AI summary
In certain embodiments, a method includes accessing image information for a scene in a movement path of a mobile robot. The image includes image information for each of a plurality of pixels of the scene, the image information comprising respective intensity values and respective distance values. The method includes analyzing the image information to determine whether to modify the movement path of the mobile robot. The method includes initiating, in response to determining according to the image information to modify the movement path of the mobile robot, sending of a command to a drive subsystem of the mobile robot to modify the movement path of the mobile robot.