Mobile Robot Path Shaping for Accurate Self-Position Estimation
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Solution Overview
Problem
Conventional autonomous travel type cleaning devices face challenges in setting an optimal movement path, leading to inadequate self-position estimation due to consistent distances to objects, which affects navigation efficiency.
Innovation Solution
A mobile robot equipped with a range finding sensor, an acquisition unit, an identification unit, and a converter that generates a new movement path by identifying and modifying partial paths to vary distances to objects, allowing for improved self-position estimation by changing the path from a straight line or parallel path to a zigzag shape when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile robot moves along a straight line path or path parallel to objects, then the movement path is simple and navigation is straightforward, but self-position estimation becomes inaccurate due to consistent distances to objects
Solution Approach 1:
The patent applies curvature by converting straight line paths into zigzag paths. The identification unit detects straight line segments in the movement path, and the converter transforms them into zigzag patterns with alternating left and right deviations. This curvature enables the range finding sensor to measure varying distances to objects, providing sufficient information for accurate self-position estimation while maintaining relatively simple path planning logic.
Solution Approach 2:
The patent changes the geometric parameters of the movement path from straight lines to zigzag patterns. By introducing angular deviations and varying the path shape, the robot creates sufficient variation in distance measurements to objects. This parameter change ensures that the range finding sensor captures diverse spatial information, enabling accurate self-position estimation without requiring complex navigation algorithms.
2Measurement precision
If the mobile robot follows a complex zigzag path to improve self-position estimation, then measurement accuracy improves, but the time required for movement increases
Solution Approach 1:
The patent applies partial action by selectively converting only certain straight line segments into zigzag paths, rather than making the entire path zigzag. The identification unit detects which segments require conversion based on their geometric characteristics, and only those segments are transformed. This partial conversion achieves sufficient self-position estimation accuracy while minimizing the increase in movement time and path complexity.
3Productivity
If the mobile robot uses a simple straight line path, then movement speed is high and time is reduced, but the range finding sensor cannot obtain sufficient information for accurate self-position estimation
Solution Approach 1:
The patent introduces curvature into the movement path by converting straight line segments into zigzag patterns. This curvature enables the range finding sensor to capture varying distances to objects at different positions, providing sufficient spatial information for accurate self-position estimation. The zigzag pattern ensures that the robot observes objects from multiple angles and distances, preventing information loss while maintaining relatively efficient movement.
Data Source
AI summary
A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map of an environment including object position information, and a first path where the cleaning device is to move in the environment; an identification unit which identifies a first path partial path; a converter which converts the partial path into a differently-shaped path to generate a second path; and a motor controller which causes the cleaning device to move along the second path. The identification unit sets a region, on the map, where the range finding sensor can perform range finding from start and end points of a portion of the first path, and identifies the portion as the partial path when only one or more straight lines which traverse the region and are parallel to a line segment toward the end point from the start point are represented as the object in the region set.