3D Environment Mapping for Intuitive Robot Floor Cleaner Navigation
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Solution Overview
Problem
Existing floor cleaning devices generate environment maps that are difficult for users to read due to their schematic 2D representation, lacking depth information and intuitive human perception, especially when distinguishing between features like walls and objects such as furniture.
Innovation Solution
Generating a photorealistic, three-dimensional environment map through 3D reconstruction during floor processing operations, allowing for intuitive user navigation and interaction, using detection devices like cameras or distance sensors to record environment features and objects from varying perspectives, and processing data using SLAM algorithms to create a 3D model that reflects the environment as seen by the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a 2D grid map is generated for environment representation, then the map can be stored and processed efficiently, but the map becomes difficult for users to read and understand
Solution Approach 1:
The patent transitions from 2D grid map representation to 3D point cloud representation by adding the depth dimension. This allows the environment map to preserve spatial relationships and object characteristics while remaining computationally processable, directly resolving the contradiction between efficient processing and user readability.
2Device complexity
If a simplified schematic depiction is used for the environment map, then processing and storage are easier, but depth information and human perception are lost
Solution Approach 1:
By introducing the third dimension (depth/Z-axis) to create a point cloud representation, the system preserves depth information and spatial relationships that are essential for human perception, while maintaining computational efficiency through discrete point data structures.
Solution Approach 2:
The patent creates a photorealistic copy of the environment using point clouds that replicate the actual spatial arrangement, dimensions, and visual characteristics of objects, allowing users to perceive the environment as if directly observing it while maintaining data efficiency.
3Difficulty of detecting and measuring
If objects with floor clearance are recorded only at detection plane level, then the detection process is simpler, but the complete object information is lost
Solution Approach 1:
The patent uses multi-level detection planes at different heights (floor level, mid-level, ceiling level) to capture complete object information. By adding vertical dimension detection, the system records objects with floor clearance in their entirety while maintaining systematic and manageable detection processes.
Data Source
AI summary
A method for creating an environment map for a processing unit, which moves independently within an environment, wherein a detection device detects environmental features and/or objects within the environment, and wherein position data of the environmental features and/or objects are processed by an evaluation device into an environment map. In order to achieve intuitive user-processing unit interaction, the detected environmental features and/or objects are processed via 3D reconstruction into a photo-realistic, three-dimensional environment card.