Mobile robot, control method, and storage medium
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Solution Overview
Problem
Autonomous mobile robots face challenges in maintaining an accurate path over carpeted floors due to the inclination of carpet fibers, which requires complex configurations and processing loads, as seen in existing technologies like Japanese Patent No. 5913743.
Innovation Solution
A mobile robot equipped with an acceleration sensor to estimate the inclination of carpet piles and adjust its movement velocity and direction accordingly, eliminating the need for additional sensors like cameras, thus simplifying the configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors (odometry measuring means, forward direction measuring means, and camera) are used to estimate carpet influence, then the estimation accuracy improves, but the device complexity and processing load increase
Solution Approach 1:
The patent extracts and utilizes only the necessary components from the robot system - specifically the acceleration sensor that is already present for motion control - to estimate carpet pile inclination. By taking out the relevant acceleration data from the robot's existing sensor suite and using it for carpet detection, the patent eliminates the need for additional dedicated sensors while maintaining estimation capability.
Solution Approach 2:
The acceleration sensor serves multiple functions: it controls robot motion and simultaneously estimates carpet pile inclination. This multi-functionality allows the same sensor to be used for both motion control and carpet detection, reducing the need for separate dedicated sensors and simplifying the overall system configuration.
2Measurement precision
If multiple sensors (odometry measuring means, forward direction measuring means, and camera) are used to estimate carpet influence, then the estimation accuracy improves, but the processing load increases
Solution Approach 1:
The patent extracts and utilizes only the necessary components from the robot system - specifically the acceleration sensor that is already present for motion control - to estimate carpet pile inclination. By taking out the relevant acceleration data from the robot's existing sensor suite and using it for carpet detection, the patent eliminates the need for additional dedicated sensors while maintaining estimation capability.
Solution Approach 2:
The acceleration sensor serves multiple functions: it controls robot motion and simultaneously estimates carpet pile inclination. This multi-functionality allows the same sensor to be used for both motion control and carpet detection, reducing the need for separate dedicated sensors and simplifying the overall system configuration.
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
Enables the mobile robot to maintain an accurate path over carpeted floors by accurately estimating carpet pile inclination and adjusting its movement, reducing drift and path deviations without the need for complex sensor configurations.
Implementation Method 1
an acceleration sensor that measures a translational acceleration of the mobile robot
Data Source
AI summary
Provided is a mobile robot that moves autonomously over a floor covered by a carpet, the mobile robot including an acceleration sensor that measures a translational acceleration of the mobile robot, an estimation unit that estimates an inclination of a pile of the carpet on a basis of the translational acceleration measured by the acceleration sensor while the mobile robot is accelerating or decelerating, and a movement control unit that controls a movement velocity and a movement direction of the mobile robot on a basis of the inclination of the pile estimated by the estimation unit.