Robot Positioning Using Vertical Laser Lines and Camera
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Solution Overview
Problem
Existing robot positioning systems require extensive data processing and often rely on multiple sensors, including floor sensors, to navigate around obstacles, which can be inefficient and prone to errors, especially in environments with many objects.
Innovation Solution
A robot positioning system utilizing a camera and at least one line laser to project vertical laser lines, processing unit to extract image data from reflected light, and creating a representation of the environment, allowing for accurate navigation without the need for floor sensors and reducing data processing requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robot positioning systems use multiple sensors (ultrasound, light waves, stair sensors, wall-tracking sensors, transponders) to navigate and detect obstacles, then the robot can achieve basic navigation capability, but the device complexity increases and the system becomes prone to errors
Solution Approach 1:
The patent combines multiple sensing functions (obstacle detection, depth measurement, surface detection) into a single integrated system using a camera and laser lines. Instead of using separate ultrasound sensors, light wave sensors, stair sensors, and wall-tracking sensors, the invention merges these functions into one unified vision-based system that captures spatial information through reflected laser lines imaged by the camera.
Solution Approach 2:
The camera-laser system performs multiple functions simultaneously: it detects obstacles, measures depth, identifies floor surfaces, and creates a representation of the environment. This multi-functional approach replaces the need for specialized sensors for each function, reducing overall system complexity while maintaining comprehensive navigation capability.
2Loss of information
If prior art positioning sensors execute thousands of measurements every second to produce detailed data, then comprehensive environmental information is obtained, but the data processing load increases significantly
Solution Approach 1:
The system extracts only the essential information needed for positioning and navigation from the captured images. Instead of processing all thousands of measurements, the invention identifies and extracts key features such as laser line positions, obstacle boundaries, and floor surfaces. This selective extraction reduces data processing requirements while retaining the critical information needed for accurate robot positioning.
Solution Approach 2:
The patent segments the environmental data by focusing on specific regions and features (laser line reflections, obstacle edges, floor surfaces) rather than processing the entire scene uniformly. The processing unit divides the image data into relevant segments and processes only those portions that contain navigation-critical information, significantly reducing computational load.
3Measurement precision
If traditional systems use horizontally scanning lasers for range measurement, then depth information is obtained, but the system requires additional complex sensors and cannot detect dust or small debris
Solution Approach 1:
The patent transitions from horizontal laser scanning to vertical laser lines that extend from the floor upward. This dimensional change allows the system to capture depth information across the vertical profile of the environment in a single image, enabling detection of obstacles at various heights, dust particles, and small debris on the floor surface that would be missed by horizontal scanning.
Solution Approach 2:
The invention replaces the mechanical scanning system with a stationary laser line projection system. Instead of mechanically scanning lasers horizontally, the system uses fixed vertical laser lines whose reflections are captured by the camera. This substitution eliminates mechanical complexity while maintaining depth measurement capability and adding the ability to detect small particles and dust through the illuminated vertical planes.
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 system provides efficient and accurate obstacle detection and navigation by using a small amount of image data to represent the environment, improving positioning accuracy and enabling detection of dust and debris, thus allowing the robot to move freely without falling and maintain effective cleaning performance.
Implementation Method 1
a first line laser arranged to illuminate a space by projecting vertical laser lines within field of view of a camera... the camera is arranged to record a picture of the space illuminated by the vertical laser lines... the processing unit is arranged to extract, from the recorded picture, image data representing a line formed by the vertical laser lines being reflected against objects located within the space
Data Source
Figure 1
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AI summary
The present invention relates to a robot positioning system and a method of positioning a robot. The robot positioning system comprises a camera, a processing unit and at least a first line laser. The first line laser is arranged to illuminate a space by projecting vertical laser lines within field of view of the camera. The camera is arranged to record a picture of the space illuminated by the vertical laser lines, and the processing unit is arranged to extract, from the recorded picture, image data representing a line formed by the vertical laser lines being reflected against objects located within the space. The processing unit is further arranged to create, from the extracted line, a representation of the illuminated space along the projected laser lines, in respect of which the robot is positioned.