Vision Device Motion Compensation for Locomobile Robots
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Solution Overview
Problem
Locomobile robots face challenges in maintaining a stable line of sight for their vision systems when moving or rotating, leading to target deviation and image blurring, which degrades recognition accuracy.
Innovation Solution
A system and method that use motion commands and sensor information to control the vision device's line of sight, compensating for the robot's motion by adjusting the vision device's position, orientation, and zoom level to keep the target centered within the image frame.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the locomobile robot moves or rotates to perform monitoring tasks, then the robot's mobility and task execution capability are improved, but the target deviates from the vision system's input range and image blurring occurs, degrading recognition accuracy
Solution Approach 1:
The system calculates motion information from motion commands before the robot executes movement, and uses this information to preemptively adjust the vision device's orientation and zoom level. This preliminary adjustment ensures the target remains centered in the image frame even during robot movement, preventing target deviation and blurring before they occur.
Solution Approach 2:
The system continuously monitors the target position in the image frame and uses this feedback to adjust the vision device's orientation and zoom level in real-time. This closed-loop control ensures that even if the robot moves unexpectedly or the target position changes, the vision system can dynamically compensate to maintain the target at the center of the image frame.
2Device complexity
If the vision device is fixed to the robot body to simplify installation, then the device complexity is reduced, but the vision device cannot maintain stable line of sight when the robot moves
Solution Approach 1:
The system transforms the static vision device into a dynamic one by enabling independent orientation and zoom adjustments. The vision device is no longer passive relative to robot movement but actively adapts its orientation and focal length based on calculated motion information, allowing it to compensate for robot movement and maintain stable line of sight despite being fixed to the moving robot body.
Solution Approach 2:
The system changes the operational parameters of the vision device (orientation angle and zoom level) based on motion information from motion commands. By dynamically adjusting these parameters in response to robot movement, the vision device maintains stable line of sight without requiring a complex mechanical mounting system.
3Measurement precision
If the vision device adjusts orientation and zoom to track target during robot movement, then target tracking accuracy is improved, but the control system complexity increases
Solution Approach 1:
The system calculates the required vision device adjustments (orientation and zoom) in advance based on motion commands before the robot executes movement. This preliminary calculation approach simplifies control by avoiding the need for complex real-time feedback algorithms, while still achieving accurate target tracking through proactive parameter adjustment.
Data Source
AI summary
A system of controlling a vision device based on motion commands may include: a movable body; a vision device driven by being connected to the body and receiving image information; a driving unit driving the body in accordance with a motion command; and a control unit which calculates motion information of the body using the motion command and drives the vision device so as to compensate an influence caused by the motion of the body using the calculated motion information. By using the system, reliable image information may be obtained in a manner such that a vision device included in a subject such as a locomobile robot is controlled to watch a predetermined target even when the subject moves.