Mobile robot and method of controlling mobile robot
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Solution Overview
Problem
Conventional mobile robots cannot distinguish between climbable and non-climbable mat-type obstacles, leading to potential damage and errors in cleaning, as they rely solely on obstacle height and cannot differentiate between carpets and foot mats.
Innovation Solution
A mobile robot equipped with a three-dimensional depth camera that analyzes images and calculates the planar area of mat-type obstacles to determine whether to climb or avoid them, using predetermined height and area values to make decisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional optical sensors are used to detect obstacles, then the robot can detect distance and terrain, but it cannot distinguish between climbable and non-climbable mat-type obstacles
Solution Approach 1:
The patent transitions from 2D optical sensor detection to 3D depth camera detection, adding a depth dimension to obstacle measurement. This enables the robot to measure both the height and planar area of obstacles simultaneously, providing sufficient information to distinguish between climbable carpets and non-climbable foot mats without direct contact.
2Productivity
If the robot climbs all detected obstacles, then cleaning coverage is maximized, but the robot may be damaged by non-climbable obstacles like foot mats
Solution Approach 1:
The robot performs preliminary detection and classification of obstacles using the depth camera before attempting to climb them. By measuring the planar area and height in advance, the robot identifies non-climbable obstacles like foot mats and avoids them proactively, preventing damage before it occurs while still climbing safe obstacles like carpets.
3Reliability
If the robot avoids all mat-type obstacles, then robot damage is prevented, but climbable carpets cannot be cleaned
Solution Approach 1:
The patent applies different avoidance strategies to different types of obstacles based on their local characteristics. By measuring the planar area of each obstacle, the robot distinguishes between small non-climbable foot mats (which it avoids) and larger climbable carpets (which it cleans), enabling selective behavior that maximizes both safety and cleaning coverage.
4Device complexity
If the robot uses only obstacle height for classification, then the control logic is simple, but it cannot accurately distinguish between carpets and foot mats
Solution Approach 1:
The patent adds planar area measurement as a second dimension to obstacle characterization, working in conjunction with height measurement. This two-dimensional characterization space enables accurate distinction between carpets and foot mats, with the depth camera providing both measurements simultaneously without significantly increasing system complexity.
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 robot to accurately determine whether to climb or avoid mat-type obstacles without direct contact, minimizing damage and ensuring effective cleaning by distinguishing between carpets and foot mats, and storing obstacle information for future navigation.
Implementation Method 1
obtain an image of the surroundings and far and near distances to the obstacle
Data Source
AI summary
Disclosed is a mobile robot including a driver configured to move a main body, an image obtainer configured to obtain an image of the surroundings and far and near distances between the main body and an obstacle, and a controller configured to analyze the image and the far and near distances obtained by the image obtainer and to determine whether an obstacle is present near the main body. The controller determines whether the obstacle is a mat-type obstacle. Upon determining that the obstacle is a mat-type obstacle, the controller calculates the planar area of the mat-type obstacle, and determines a climbing operation or an avoidance operation of the main body based on the planar area of the mat-type obstacle.