Autonomous Driving Arrival Detection Using Edge Pair Counts
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Solution Overview
Problem
Autonomous driving systems for mobile robots face challenges in determining whether a destination has been reached, especially in environments with multiple potential destinations, due to complexities in data processing and the need for precise rotation control to align the robot's field of vision with the destination.
Innovation Solution
An autonomous driving control apparatus that uses edge pair data to determine if a mobile robot has reached a destination by comparing cumulative edge pairs identified during navigation with pre-stored edge pair data, and then uses camera images to confirm the destination's room number, allowing the robot to stop and rotate to align with the destination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rotation control is performed to align the mobile robot's field of vision with the destination, then the robot can identify the destination more accurately, but the data processing becomes more complicated and requires additional processes to obtain direction information
Solution Approach 1:
The patent extracts only the necessary edge pair quantity information from the environment and uses it as a simplified criterion for destination identification, rather than processing complex directional data or requiring the robot to rotate and align with the destination. This reduces data processing complexity while maintaining identification accuracy.
2Adaptability or versatility
If the number of rooms designated as potential destinations increases, then the system can handle more destinations, but the data processing for controlling the direction of the mobile robot becomes rather complicated
Solution Approach 1:
The patent extracts and uses only the edge pair quantity as a key feature for destination identification, ignoring complex directional information. This allows the system to handle multiple destinations efficiently without increasing direction control complexity, as each destination is identified by its unique edge pair count.
Solution Approach 2:
The patent changes the identification parameter from complex directional data to a simple scalar value (edge pair quantity). This parameter transformation enables the system to manage multiple destinations with simplified processing, as comparing integer values is computationally efficient regardless of the number of destinations.
3Measurement precision
If extensive data collection and alignment processes are used to determine destination arrival, then the destination can be identified with high precision, but the processing time and computational resources increase
Solution Approach 1:
The patent extracts only the essential edge pair quantity information needed for destination identification, eliminating unnecessary data collection and alignment processes. This allows the robot to quickly determine arrival by comparing edge pair counts without time-consuming rotation or extensive environmental scanning.
Data Source
AI summary
Disclosed is an autonomous driving control apparatus which includes at least one sensor, one or more processors, and memory. The autonomous driving control apparatus obtains, using the at least one sensor and while a driving device is being autonomously controlled, data about a driving route of the driving device, stops a movement of the driving device based on a comparison between the cumulative quantity of the edge pairs identified along the driving route and edge pair data previously stored in the memory, obtains, using the at least one sensor, at least one image, and determines, based on the at least one image, that the driving device has reached a destination.