Method for creating an environment map
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Solution Overview
Problem
Conventional mobile, self-propelled cleaning devices like vacuum robots face challenges in creating an environmental map that allows for logical evaluation of obstacles and avoidance of repeated collisions, particularly when obstacles are at different heights than the lidar sensor's field of view, limiting their ability to clean accessible areas effectively.
Innovation Solution
The method involves using at least two sensors to create a dual horizontal level environmental map, where the first sensor (like a lidar sensor) detects obstacles above the device body and a second sensor (like a bumper) detects obstacles at the lidar sensor's height, allowing for optimized path planning to clean areas that would otherwise be inaccessible due to height limitations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a lidar sensor is used to detect obstacles, then the device can detect obstacles at a distance and create an environmental map, but the device cannot clean areas under obstacles that are higher than the lidar sensor's field of view
Solution Approach 1:
The patent introduces a second horizontal plane for obstacle detection at a different height level than the first plane. This dimensional addition allows the system to distinguish between obstacles that block the cleaning device and obstacles that only block the lidar sensor, enabling the device to navigate under taller obstacles while maintaining obstacle detection capabilities.
2Ease of operation
If the robot vacuum repeatedly attempts to pass obstacles detected by the lidar bumper, then it may find a path, but it causes repeated collisions and time loss
Solution Approach 1:
The system performs preliminary detection of obstacles at the second horizontal plane before attempting to navigate. By identifying obstacles that are only detectable by the lidar bumper (not the main lidar sensor), the system can pre-plan paths that avoid repeated collisions, instead of repeatedly attempting to pass through areas that will result in collisions.
Solution Approach 2:
The environmental map stores obstacle information from both horizontal planes, providing feedback to the path planning system. This feedback mechanism allows the device to learn from detected obstacles and adjust its navigation strategy, avoiding areas where repeated collisions would occur while still finding accessible paths around obstacles.
3Measurement precision
If the lidar sensor is positioned on a tower structure for clear field of view, then obstacle detection is improved, but the device body height limits its ability to drive under obstacles
Solution Approach 1:
The patent segments the obstacle detection space into multiple horizontal planes at different heights. This segmentation allows the system to separately analyze obstacles at each level, distinguishing between those that block the cleaning device body and those that only block the elevated lidar sensor, enabling independent navigation decisions for each obstacle type.
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 approach enables the device to systematically and optimally clean areas around and under obstacles, reducing collisions and increasing the cleanable floor area by distinguishing between obstacles at different heights and planning collision-free movements.
Implementation Method 1
a first sensor (like a lidar sensor) detects obstacles above the device body
Implementation Method 2
a second sensor (like a bumper) detects obstacles at the lidar sensor's height
Data Source
Figure 1A~2A
Figure 2B~3B
Figure 4A~5
AI summary
The invention relates to a method for creating an environmental map of an area for the operation of a mobile, self-propelled device (10), in particular a floor cleaning device such as a vacuuming and/or sweeping and/or mopping robot, comprising the following method steps: detecting the area surrounding the device (10) with at least one first sensor (1) to create a first horizontal plane (5a) of the environmental map; detecting the area surrounding the device (10) with at least one second sensor (4) to create a second horizontal plane (5b) of the environmental map, which differs from the first horizontal plane (5a); and planning a movement path of the device (10) based on the first and second planes (5a, 5b) of the environmental map, in order to achieve, in particular, the greatest possible floor cleaning in the area surrounding the device. The invention further relates to a mobile, self-propelled device (10) that can perform such a method.