Embedded network-controlled omni-directional motion system with optical flow based navigation
First Claim
1. An omni-directional motion system with optical flow based navigation, comprising:
- a body;
multiple motion units, installed to said body, and used to control the motion and driving of said body with each said motion unit further comprising;
an omni-directional wheel; and
a motor device, coupled to said omni-directional wheel, and providing driving force for said omni-directional wheel; and
at least one optical flow sensor, installed on the ground-facing surface of said body, used to detect the motion state of said body, and creating optical flow detection data.
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Abstract
The present invention discloses an embedded network-controlled omni-directional motion system with optical flow based navigation, wherein multiple motion units and at least one embedded network control system are installed to the body, and at least one optical flow sensor is installed on the ground-facing surface of the body. The movement of the body is driven by the motion units, and the motion unit has an omni-directional wheel and a motor device. The optical flow sensors detect the state of motion and create optical-flow detection data. The embedded network control system exchanges motion control instructions and optical-flow detection data with an external information-processing unit via a communication network. Further, the motion system of the present invention may also connect with peripheral control devices to increase the control convenience of the system. As the system of the present invention adopts an optical flow based navigation technology, the system of the present invention can be free from the influence of wheel sliding, environmental variation, and accumulated errors and can achieve accurate navigation.
64 Citations
24 Claims
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1. An omni-directional motion system with optical flow based navigation, comprising:
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a body;
multiple motion units, installed to said body, and used to control the motion and driving of said body with each said motion unit further comprising;
an omni-directional wheel; and
a motor device, coupled to said omni-directional wheel, and providing driving force for said omni-directional wheel; and
at least one optical flow sensor, installed on the ground-facing surface of said body, used to detect the motion state of said body, and creating optical flow detection data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An embedded network-controlled omni-directional motion system with optical flow based navigation, comprising:
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a body;
multiple motion units, installed to said body, and used to control the motion and driving of said body with each said motion unit further comprising;
an omni-directional wheel;
a motor device, coupled to said omni-directional wheel, and providing driving force for said omni-directional wheel; and
at least one optical flow sensor, installed on the ground-facing surface of said body, used to detect the motion state of said body, and creating optical flow detection data; and
at least one embedded network control system, installed on the upper surface of said body, receiving motion-control data and feeding back said optical flow detection data via a communication path of network. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification