Mobile Robot Obstacle Recognition and Type-Based Motion Control
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Solution Overview
Problem
Conventional mobile robots face challenges in effectively navigating and cleaning around obstacles, as they often collide with or simply avoid them without proper recognition, leading to inefficiencies and potential damage to obstacles, especially if obstacles are movable or require specific handling.
Innovation Solution
A mobile robot system equipped with a sensor unit, camera, data unit, controller, and speaker that analyzes obstacle images, recognizes obstacle types, and performs specific operations such as stopping, decelerating, or changing direction based on pre-set motion commands, allowing for tailored responses to different obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile robot changes the traveling path immediately upon sensing an obstacle, then the obstacle collision is avoided, but the cleaning operation cannot be completed and cleaning efficiency deteriorates
Solution Approach 1:
The robot changes its response behavior based on the type of obstacle detected. For example, when a biological obstacle (pet, child) is detected, the robot waits for a predetermined time before changing path, whereas for other obstacles it may change path immediately or approach closer. This parameter-based differentiation resolves the contradiction by adjusting the timing and nature of path change according to obstacle characteristics.
Solution Approach 2:
The robot dynamically adjusts its obstacle avoidance strategy based on real-time obstacle recognition results. Instead of using a fixed avoidance rule, the system modifies its behavior (waiting time, path change timing, approach distance) according to the detected obstacle type, enabling adaptive response that balances safety and cleaning efficiency.
2Productivity
If the mobile robot approaches the obstacle as close as possible before changing path, then cleaning coverage is improved, but obstacles may be damaged upon collision
Solution Approach 1:
The robot adjusts its approach distance and collision avoidance timing based on obstacle type. For fragile obstacles (vases, electronics), the robot changes path at a greater distance or waits longer, preventing damage. For robust obstacles, it may approach closer before changing path, maximizing cleaning coverage. This resolves the contradiction by making approach parameters dependent on obstacle characteristics.
Solution Approach 2:
The robot performs preliminary obstacle recognition and classification before executing the approach and avoidance maneuver. By identifying the obstacle type in advance, the robot can pre-determine the appropriate safety distance and timing for path change, ensuring both cleaning coverage and obstacle protection are optimized before the actual interaction occurs.
3Device complexity
If the mobile robot uses simple obstacle sensing and path changing, then the system complexity is reduced, but it cannot handle movable obstacles or obstacles requiring specific handling
Solution Approach 1:
The robot introduces an intermediary obstacle recognition module that analyzes obstacle types before determining the avoidance strategy. This intermediary layer processes sensor data to identify characteristics (biological, fragile, movable) and translates them into appropriate control commands, enabling sophisticated obstacle handling without requiring complex mechanical interaction mechanisms.
Solution Approach 2:
The system uses feedback from obstacle recognition results to dynamically adjust the path planning and execution. By continuously monitoring obstacle type and responding with appropriate behaviors (waiting, slow approach, immediate avoidance), the robot achieves high adaptability to various obstacle scenarios while maintaining a relatively simple overall system architecture.
4Reliability
If the mobile robot waits for a predetermined time upon detecting a biological obstacle, then the obstacle can be handled appropriately, but the response time increases
Solution Approach 1:
The robot adjusts the waiting time parameter based on obstacle type. For biological obstacles (pets, children), a predetermined wait time is applied to ensure safe and appropriate handling. For other obstacles, the waiting time is reduced or eliminated, maintaining fast response. This parameter differentiation resolves the contradiction by applying time delays only when necessary for appropriate handling.
Data Source
AI summary
A mobile robot includes: a sensor unit configured to sense an object present in a traveling direction; a camera configured to, in response to sensing of the obstacle by the sensor unit, photograph the obstacle; a data unit configured to store information regarding a plurality of obstacles; a controller configured to control an operation by recognizing the obstacle based on the information stored in the data unit; a travel unit configured to perform a designated operation according to a control command from the controller; and a speaker configured to output a designated sound according to a control command from the controller, wherein the controller comprises: an obstacle recognizer configured to analyze an image of the obstacle photographed by the camera, compare the image of the obstacle with data stored in the data unit, recognize the obstacle, and determine a type of the obstacle; and a motion controller configured to, in response to a type of the obstacle recognized by the obstacle recognizer, perform a designated operation according to setting stored in the data, and accordingly, it is possible to determine a type of an obstacle by recognizing the obstacle, effectively cope with obstacles by performing different operations according to types of the obstacles, improve cleaning efficiency, enable the mobile robot to recognize an obstacle and determine a type thereof within a short period of time, allow a user to modify an operation responsive to the type of the obstacle, and perform an operation suitable for characteristics of the obstacle, an area to be cleaned, or a surrounding environment.