Autonomous Mobile Sensor Recovery From Stranded Navigation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous mobile devices equipped with cameras or distance measuring devices often become stuck in stranded situations due to ineffective sensing, leading to power exhaustion, map deviations, and inability to complete tasks, as they cannot determine if their sensors are malfunctioning or affected by environmental conditions.
Innovation Solution
An escape method where the device moves in a work environment, obtains environmental data, determines if the sensing device is in a suspected ineffective state, and executes instructions to spin, move backwardly, and navigate along a curve or folded line to circumvent the stranded location based on predetermined angles and thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the autonomous mobile device uses camera or distance measuring device for navigation, then the device can operate autonomously in work environment, but the device cannot determine whether the sensing device is ineffective leading to stranded situations
Solution Approach 1:
The patent implements feedback mechanisms by comparing expected sensor responses with actual sensor readings. When the device moves, the system expects corresponding changes in camera images or distance measurements. If no expected changes are detected despite device movement, the system identifies this as a stranded situation through feedback analysis of the sensing device effectiveness.
Solution Approach 2:
The system performs self-diagnosis by autonomously detecting its own stranded state through monitoring sensor feedback. The autonomous mobile device independently determines whether its sensing devices are ineffective by analyzing the correlation between its movement actions and sensor readings, without requiring external assistance for this diagnostic function.
2Duration of action of moving object
If the autonomous mobile device continues operation in stranded situation, then the device maintains continuous operation, but power is exhausted and tasks cannot be completed
Solution Approach 1:
The system performs preliminary detection of stranded situations before complete system failure occurs. By continuously monitoring sensor feedback and identifying ineffective sensing states early, the device can terminate operation or switch modes before exhausting power resources, preventing complete power depletion and enabling recovery.
Solution Approach 2:
When a stranded situation is detected, the system rapidly transitions from continuous operation to escape mode, skipping the prolonged power-consuming state of ineffective operation. The escape sequence executes predetermined maneuvers to quickly exit the stranded situation, reducing the duration of power consumption in the ineffective state.
3Measurement precision
If the autonomous mobile device spins at same location for escape, then the device can detect rotation angle for escape navigation, but the device may not actually move from stranded location
Solution Approach 1:
The patent replaces mechanical displacement with rotational movement for the purpose of detection. Instead of moving linearly to detect environmental changes, the device spins in place to use its sensing devices (camera, distance measuring device) for scanning and detecting rotation angle, substituting mechanical translation with rotational scanning to achieve detection objectives.
Solution Approach 2:
The system changes the motion parameter from linear displacement to rotational angle. By controlling the device to rotate at a predetermined angle and measuring the actual rotation through sensing devices, the system transforms the escape problem from a displacement-based task to a rotation-based detection task, enabling precise angle measurement even without positional change.
Data Source
AI summary
A method executable by an autonomous mobile device includes moving in a work environment, obtaining environmental data acquired by a sensing device, and determining whether the sensing device is in a suspected ineffective state based on the environmental data. The method also includes based on a determination that the sensing device is in the suspected ineffective state, rotating at a same location for a first predetermined spin angle. The method also includes obtaining an estimated rotation angle based on one or more motion parameters acquired by a dead reckoning sensor, comparing the estimated rotation angle with the first predetermined spin angle, and based on a determination that a difference between the estimated rotation angle and the first predetermined spin angle is greater than a first predetermined threshold value, executing escape instructions to move backwardly for a first predetermined distance and move along a curve or a folded line.