Mobile Robot Stuck Status Recognition Using Multi-Sensor Data Fusion
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Solution Overview
Problem
Current floor mopping robots lack the ability to accurately recognize stuck status, leading to inefficient extrication actions and prolonged operation times due to incorrect recognition of the type of obstruction.
Innovation Solution
A method and apparatus that build an environmental map around the mobile robot, real-time monitor its position and sensor data, and utilize multiple sensors to determine the type of stuck status, enabling targeted extrication actions based on the specific obstruction type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If floor mopping robots execute extrication actions without accurately recognizing stuck status type, then the robot can perform basic movement functions, but the extrication time is prolonged and working efficiency is reduced
Solution Approach 1:
The system performs preliminary recognition of the stuck status type before executing extrication actions. By using multiple sensors to detect and classify the type of obstruction (e.g., table legs, slopes, walls) in advance, the robot can then select and execute the most appropriate extrication action, avoiding trial-and-error approaches and significantly reducing the time required to free itself from stuck situations.
2Measurement precision
If floor mopping robots use multiple sensors to recognize stuck status type, then the recognition accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent employs multiple sensors (infrared sensors, ultrasonic sensors, collision sensors, etc.) that serve dual purposes: they detect stuck status types and also provide navigation and obstacle avoidance information. This multi-functionality approach improves stuck status recognition accuracy while minimizing the increase in device complexity, as these sensors are already necessary for the robot's basic navigation and cleaning functions.
Data Source
AI summary
The present disclosure proposes a method and an apparatus for recognizing a stuck status as well as a computer storage medium, with the method comprising: building an environmental map within a preset extent by taking the current position of the mobile robot as center; real-time monitoring the march information of the mobile robot and predicting whether the mobile robot is stuck or not; acquiring data from multiple sensors of the mobile robot, if the mobile robot is stuck; and recognizing the current stuck status of the mobile robot based on the data from multiple sensors.