Cleaning Robot Camera Positioning for Visual Odometry Navigation
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Solution Overview
Problem
Conventional cleaning robots face inefficiencies in cleaning unknown environments due to random cleaning modes that often miss uncleaned zones and repeatedly clean already cleaned areas, and rely on expensive Lidar sensors for mapping and navigation, which increase costs and volume.
Innovation Solution
A cleaning robot equipped with a monocular camera at an acute elevation angle for enhanced localization and mapping, combined with motion sensors and a data processing device for path planning, allowing for efficient cleaning without the need for expensive Lidar sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Lidar sensors are used for mapping and navigation, then localization and mapping capability is improved, but cost and volume increase
Solution Approach 1:
The patent replaces the mechanical Lidar sensing system with an optical camera-based system. The monocular camera captures images that are processed through visual odometry algorithms to achieve localization and mapping, substituting expensive mechanical sensors with more compact optical components and computational methods.
Solution Approach 2:
The patent creates a visual copy of the environment through camera imaging rather than direct mechanical measurement. By capturing optical information and processing it through image recognition and visual odometry, the system reconstructs spatial information without requiring physical Lidar sensors, thereby reducing volume while maintaining functional capability.
2Measurement precision
If Lidar sensors are used for mapping and navigation, then localization and mapping capability is improved, but cost increases
Solution Approach 1:
The patent employs inexpensive monocular cameras instead of expensive Lidar sensors. The camera system, combined with software-based visual odometry and image processing, provides a cost-effective alternative that achieves comparable localization and mapping functionality without the high manufacturing costs associated with Lidar technology.
Solution Approach 2:
The patent substitutes mechanical sensing systems with optical and computational systems. By using camera-based visual odometry and image processing algorithms, the system replaces expensive mechanical Lidar sensors with more affordable optical components and software solutions, significantly reducing manufacturing costs while maintaining functional performance.
3Ease of operation
If random cleaning mode is used, then simplicity of operation is improved, but cleaning efficiency deteriorates
Solution Approach 1:
The patent implements feedback mechanisms where the camera continuously captures environmental information, the system processes this data through visual odometry to determine current location and cleaning status, and then adjusts the cleaning path accordingly. This closed-loop feedback enables the robot to avoid already-cleaned areas and prioritize uncleaned zones, improving efficiency while maintaining operational simplicity.
Solution Approach 2:
The patent performs preliminary mapping and localization using visual odometry before the actual cleaning process. By pre-processing environmental data and identifying cleaning zones in advance, the system can plan efficient cleaning paths that avoid redundant cleaning of already-cleaned areas, thereby improving productivity without complicating the operation.
Data Source
AI summary
A cleaning robot is provided. The cleaning robot includes a motion device configured to move the cleaning robot in an environment, and an exterior housing. The cleaning robot also includes a motion sensor configured to obtain parameters relating to a motion of the cleaning robot, and a storage device configured to store data including at least one of the one or more images or the one or more motion parameters. The cleaning robot also includes a camera configured to capture one or more images of the environment. The camera is disposed internal to a slant surface located at a front end of the exterior housing and is pivotable relative to the slant surface. The slant surface inclines upwardly with respect to a forward moving direction. The camera and the slant surface face substantially a same direction. A direction of the camera and the forward moving direction form an acute angle.