Visual-Tactile Perception for Small Robots Under Size Constraints
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Solution Overview
Problem
Existing perception systems for small-sized devices are too large to integrate both visual and tactile perception effectively, leading to compromised global or local environment perception and low accuracy due to size constraints and interference from environmental factors like shadows and light.
Innovation Solution
A visual-tactile perception apparatus comprising a visual perception module, a tactile perception module, a control module, and a signal transmission module, which allows for simultaneous image and tactile information acquisition and processing, enabling both global and local environment perception with high accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual perception systems (binocular camera, depth camera) are used to obtain depth information and improve perception accuracy, then the perception accuracy is improved, but the device size becomes large and cannot be applied to small-sized devices
Solution Approach 1:
The patent combines visual perception (camera) and tactile perception (whisker sensor) into a unified perception system for small-sized robots. The camera and whisker sensor are integrated into a single apparatus that can simultaneously perform both visual and tactile perception, resolving the contradiction between achieving high perception accuracy and maintaining small device size.
Solution Approach 2:
The patent introduces a whisker sensor as an intermediary tactile perception component that bridges the gap between visual perception and direct contact. The whisker sensor can detect objects at intermediate distances through tactile deflection, complementing the camera's visual perception and enabling accurate environment sensing without requiring large-depth cameras.
2Measurement precision
If tactile perception systems are used to perceive objects at short distance without being affected by environmental factors, then the perception accuracy for local environment is improved, but the device size becomes large and cannot be applied to small-sized devices
Solution Approach 1:
The patent merges the tactile perception function into a miniaturized whisker sensor that can be integrated into small-sized robots. This combined approach allows the small robot to achieve tactile perception capability without requiring a large device size, resolving the contradiction between improving local environment perception accuracy and maintaining small device size.
3Area of stationary object
If only visual perception is used for global environment perception, then the perception range is wide, but the perception accuracy is low when affected by shadows, light, and jitter
Solution Approach 1:
The patent implements a feedback mechanism where the whisker sensor provides tactile confirmation of objects detected by the camera. When the camera detects a potential object, the whisker sensor actively probes to confirm its presence and characteristics, creating a feedback loop that improves perception accuracy while maintaining wide perception range through the camera's visual field.
Solution Approach 2:
The whisker sensor acts as an intermediary that validates and supplements visual perception data. It provides tactile confirmation for objects detected by the camera, resolving ambiguities caused by shadows, light variations, and jitter, thereby improving perception accuracy while preserving the wide perception range enabled by visual sensing.
4Measurement precision
If only tactile perception is used for local environment perception, then the perception accuracy for close objects is high, but the perception range is limited and global environment cannot be quickly perceived
Solution Approach 1:
The patent applies preliminary action by using the camera to first scan and identify potential objects in the global environment before the whisker sensor performs detailed tactile inspection. This preliminary visual detection allows the system to quickly assess the global environment and then focus tactile perception resources on specific areas of interest, thereby expanding the effective perception range while maintaining high accuracy for close objects.
Data Source
AI summary
The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.