Mapping stasis for mobile cleaning robot
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Solution Overview
Problem
Autonomous mobile cleaning robots can become stuck or trapped, leading to incorrect mapping data due to wheels moving while the robot is stationary, causing inaccuracies in the recorded map and navigation.
Innovation Solution
The robot uses image analysis to determine when it is in a stasis condition, comparing images to detect stationary status and corrects the map accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot uses wheel encoders and optical sensors to generate mapping data, then the robot can autonomously navigate and create a map of the environment, but the robot may incorrectly assume it is moving when its wheels move during stasis, leading to inaccurate mapping data
Solution Approach 1:
The patent introduces image data from a camera as an intermediary sensor to verify actual robot movement. By comparing consecutive images, the system detects whether the robot has truly moved between time steps, serving as a mediator to validate the movement assumptions made by wheel encoders and optical sensors during autonomous navigation and mapping operations.
2Productivity
If the robot continues to record mapping data while wheels are moving during stasis, then the robot maintains continuous data collection, but incorrect mapping data is recorded due to the robot being stationary
Solution Approach 1:
The patent implements a feedback mechanism where image data is continuously analyzed to provide real-time verification of robot movement status. This feedback loop allows the system to detect stasis conditions and prevent recording of incorrect mapping data, thereby maintaining both continuous operation and data reliability by dynamically adjusting data recording based on visual confirmation of actual movement.
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
This method improves map accuracy by removing incorrect data, ensuring accurate navigation and cleaning operations.
Implementation Method 1
an image capture device connected to the body and configured to generate an image stream based on an optical field of view of the image capture device
Data Source
AI summary
A mobile cleaning robot configured to clean an environment. The mobile cleaning robot can include a body and a drivetrain operable to move the body within the environment. The robot can include a sensor connected to the body and configured to generate a sensor signal based on interactions between the mobile cleaning robot and the environment. The robot can include an image capture device connected to the body and configured to generate an image stream based on an optical field of view of the image capture device. The robot can include a controller connected to the body and configured to determine whether the mobile cleaning robot is in a stasis condition based on the image stream and the sensor signal. The controller can also update a map of the environment based on the stasis determination.