Companion Robot Tracking with Leg Imaging and Inertial Backup
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Solution Overview
Problem
Existing follower robots face frequent 'unhooking' issues due to unexpected masking of the operator, especially in crowded or cluttered environments, leading to loss of tracking reference and emergency stops, which is inappropriate for autonomous systems.
Innovation Solution
A companion robot system that uses image analysis of the operator's legs and inertial unit data to maintain tracking, even in transient masking situations, employing a multi-band Wifi router for communication quality optimization and ad-hoc networking between a wearable box and the robot, without requiring human intervention for movement commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses image analysis to track the operator, then tracking precision is improved, but reliability deteriorates due to frequent disconnection in crowded environments
Solution Approach 1:
The tracking system is segmented into multiple independent components: image analysis module for visual tracking, inertial unit for motion sensing, and wireless communication module for data transmission. This segmentation allows the system to switch between different tracking methods when one becomes unreliable, maintaining continuous operation in crowded environments where occlusion occurs
Solution Approach 2:
The inertial measurement unit acts as an intermediary backup system that provides continuous tracking data through wireless communication when image analysis fails due to occlusion. The system uses proximity sensors and inertial data as intermediate references to maintain tracking continuity without requiring direct visual contact with the operator
2Ease of operation
If the robot implements autonomous following without remote control, then ease of operation is improved, but reliability worsens due to emergency stops from unexpected masking
Solution Approach 1:
The system performs preliminary actions by continuously monitoring multiple data sources (image analysis, inertial unit data, proximity sensors) and preparing backup tracking methods before occlusion occurs. The robot proactively switches to alternative tracking methods when degradation is detected, preventing emergency stops and maintaining autonomous operation
Solution Approach 2:
The tracking system dynamically adjusts its methodology based on environmental conditions. When the operator is visible, image analysis is used for precise tracking. When occlusion is detected through wireless communication data or sensor input, the system dynamically switches to inertial unit-based tracking, maintaining autonomous following without interruption
3Reliability
If the robot uses multiple sensors for tracking, then reliability is improved, but device complexity increases
Solution Approach 1:
The inertial measurement unit serves multiple functions: it provides backup tracking data when image analysis fails, communicates operator position wirelessly to the robot, and can independently track operator movement through its own sensors. This multi-functionality reduces the need for separate dedicated components, managing system complexity while maintaining reliability
Data Source
Figure 1
AI summary
The invention concerns a companion robot system comprising an autonomously guided machine having at least one means for imaging the front of the robot and a computer controlled by a program for processing the acquired images and analysing leg movements in order to calculate the guidance instructions in real time. The system further comprises a unit for detecting movements of the operator, intended to be worn by the operator to be monitored, the equipment comprising an inertial unit and a communication module for transmitting data generated by said inertial unit to a communication module of said autonomously guided machine and to the computer.