Method for tracking movement of a mobile robotic device
AssigneeAl Incorporated
InventorAli Ebrahimi Afrouzi
Life of this patent
Estimating the term…
Abstract
A method for tracking movement and turning angle of a mobile robotic device using two optoelectronic sensors positioned on the underside thereof. Digital image correlation is used to analyze images captured by the optoelectronic sensors and determine the amount of offset, and thereby amount of movement of the device. Trigonometric analysis of a triangle formed by lines between the positions of the optoelectronic sensors at different intervals may be used to determine turning angle of the mobile robotic device.
Claims25
A method for tracking movement of a robotic device comprising:
- Capturing a plurality of images of a driving surface by each of at least two optoelectronic sensors of the robotic device moving within an environment;
- Obtaining, with one or more processors of the robotic device, the plurality of images by each of the at least two optoelectronic sensors;
- Determining, with one or more processors of the robotic device, based on the images captured by each of the at least two optoelectronic sensors, linear movement of each of the at least two optoelectronic sensors;
- and
- Determining, with one or more processors of the robotic device, based on the linear movement of each of the at least two optoelectronic sensors, rotational movement of the robotic device.
A method for tracking velocity of a robotic device comprising:
- Capturing a plurality of images of a driving surface by each of at least two optoelectronic sensors of the robotic device moving within an environment;
- Obtaining with one or more processors of the robotic device, the plurality of images by each of the at least two optoelectronic sensors;
- and
- Determining, with the one or more processors of the robotic device, based on images captured by each of the at least two optoelectronic sensors, linear movement of each of the at least two optoelectronic sensors.
A method for tracking movement of a robotic device comprising:
- Capturing a plurality of images of a driving surface by at least one optoelectronic sensor of the robotic device moving within an environment;
- Obtaining, with one or more processors of the robotic device, the plurality of images by the at least one optoelectronic sensor;
- Determining, with one or more processors of the robotic device, based on the images captured by the at least one optoelectronic sensor, linear movement of the optoelectronic sensor;
- and
- Determining, with one or more processors of the robotic device, based on the linear movement of the at least one optoelectronic sensor, rotational movement of the robotic device.
Dependencies are inferred from the claim text.