A method and a system of improving a map for a robot
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Solution Overview
Problem
Existing robot mapping technologies face challenges in accurately determining the position and quality of obstacles in the environment, leading to potential collisions and incomplete mapping due to low quality/position accuracy in certain map portions.
Innovation Solution
A method and system where the robot uses remote sensors to generate an initial map, identifies low quality/position accuracy areas, and moves to specific positions to gather improved data, enhancing the map's accuracy by combining sensor data and potentially involving operator intervention or remote processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot uses remote sensors to generate an initial map, then the mapping process can be performed at a distance, but the position accuracy and quality of obstacle detection in certain map portions deteriorates
Solution Approach 1:
The robot performs preliminary mapping using remote sensors to generate an initial map, then uses this preliminary information to identify low-quality portions and plan targeted repositioning actions to improve accuracy in specific areas
Solution Approach 2:
The system uses map quality assessment as an intermediary step between initial remote mapping and final high-precision mapping, identifying problematic areas that require improved observation
2Measurement precision
If the robot moves to gather more data from low quality areas, then the map accuracy improves, but the time and complexity of the mapping process increases
Solution Approach 1:
Instead of uniformly improving the entire map, the system identifies and targets only specific low-quality portions for improved observation, allocating time and resources efficiently to areas that need enhancement
Solution Approach 2:
The system continuously assesses map quality and uses this feedback to determine where additional observations are needed, creating a closed-loop process that optimizes time spent on mapping activities
3Reliability
If the robot focuses on improving specific low quality portions, then the overall map quality increases, but the complexity of identifying and processing these portions increases
Solution Approach 1:
The mapping process is segmented into distinct phases: initial map generation, quality assessment, identification of low-quality portions, and targeted improvement, making the complex process more manageable and systematic
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the accuracy of obstacle detection and mapping by improving low quality/position areas, ensuring precise navigation and complete coverage of the environment.
Implementation Method 1
A remote sensor may be a sensor configured to determine the presence and relative position of an obstacle vis-à-vis the sensor and/or the robot. The sensor may be based on a wireless sensing system, such as an optical system, such as stereo imaging, sensors using focal length and sharpness in the image, monocular sensors deriving structure of the obstacles from different images taken from different positions of the robot, structured light sensing, LIDAR, such as scanning LIDAR or flash LIDAR, time of flight sensors, such as based on LED, RADAR or the like.
Implementation Method 2
time of flight sensors, such as based on LED, RADAR or the like
Data Source
Figure 1~4
AI summary
A method and a system for generating a map by a robot travelling around the venue or scene while sensors detect obstacles therein. If portions of the map have obstacles determined with a too low accuracy, i.e. the map quality is too low, determining a position in the venue or scene from which the robot may determine the position of the obstacles with a higher precision, where after the robot is moved to the position and the map improved.