Robotic Heading Adjustment via Color Depth Wall Detection
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Solution Overview
Problem
Current methods for creating two-dimensional maps of work environments, such as SLAM, require expensive technology and significant processing power, necessitating a simpler approach for mobile robotic devices to detect flat surfaces efficiently.
Innovation Solution
A method involving a robotic device with sensors and a camera that captures images, measures color depth, and uses triangulation to identify and map flat surfaces, allowing for efficient detection and orientation relative to these surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM (simultaneous localization and mapping) is used to create a two-dimensional map of the work environment, then the mapping accuracy and completeness are improved, but the processing power requirement and time consumption increase significantly
Solution Approach 1:
The patent extracts only the essential information needed for navigation (flat surfaces and their orientations) from the environment, rather than creating a complete and detailed map. By focusing solely on detecting flat surfaces using color depth analysis and triangulation with sensors, the system obtains sufficient navigation data without the computational burden of full SLAM processing.
2Measurement precision
If SLAM is used to create a two-dimensional map of the work environment, then the mapping accuracy and completeness are improved, but the device cost and complexity increase
Solution Approach 1:
The patent employs inexpensive sensors (camera and simple depth sensors) instead of expensive SLAM-required technology. The system uses affordable color depth measurement and basic triangulation methods rather than sophisticated SLAM algorithms, achieving adequate navigation capability with low-cost, simple components.
3Loss of information
If complete environment mapping is performed, then the information completeness is improved, but the processing time and energy consumption increase
Solution Approach 1:
The system extracts only the critical navigation information (flat surface locations and orientations) needed for robot operation, ignoring unnecessary environmental details. This selective information extraction achieves sufficient navigation capability with minimal processing time and energy consumption.
Solution Approach 2:
The patent performs partial mapping by detecting only flat surfaces rather than mapping the entire environment. This partial action approach provides adequate navigation information without the time and energy costs of complete environment mapping.
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 approach simplifies the process of creating environment maps by using cost-effective sensors and image processing to detect flat surfaces, reducing the need for extensive processing power and enabling improved robotic performance with minimal information.
Implementation Method 1
each of the at least two sensors positioned at an angle relative to a vertical or horizontal plane and configured to detect obstacles in their direct line of sight
Implementation Method 2
capturing, with the camera, an image of the environment
Data Source
AI summary
A method including: positioning sensors on a robotic device; positioning a camera on the robotic device; capturing an image of the environment; measuring color depth of each pixel in the image; classifying each pixel into a color depth range; determining for at least one set of two points captured in the image, if the color depth of pixels measured in a region between the two points is within a predetermined range of color; generating at least one line between the two points when the color depth of pixels measured in the region between the two points is within the predetermined range of color; identifying on a map of the environment a wall surface on which the line is generated as a flat wall surface; and adjusting a heading of the robotic device relative to an angle of the wall surface.