Movable Treatment Device Localization with Inertial Neural Networks
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Solution Overview
Problem
Existing localization and motion classification methods for movable treatment devices, such as hair brushes and vacuum cleaners, face challenges including obstructed camera views and user-specificity issues, leading to imprecise localization and classification.
Innovation Solution
Utilizing inertial sensors and neural networks, specifically RNNs like GRU or LSTM, to classify motion patterns and localize movable treatment devices relative to target surfaces by associating motion classes with zones, enabling precise localization and personalized motion classification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera-based imaging techniques are used for localization, then coarse localization capability is provided, but the field of view may be obstructed leading to imprecise localization
Solution Approach 1:
The patent replaces camera-based optical localization with inertial sensor-based localization. Inertial sensors (accelerometers, gyroscopes) measure motion dynamics directly, eliminating the need for visual field of view and avoiding obstruction issues entirely. The system processes inertial measurement unit (IMU) data to determine position and orientation without requiring line-of-sight to target surface features.
Solution Approach 2:
The patent introduces motion pattern classification as an intermediary layer between raw inertial sensor data and localization output. The system classifies motion patterns (e.g., brushing, shaving, cleaning gestures) to disambiguate inertial data and improve localization accuracy, acting as a mediator that enhances the relationship between sensor measurements and position estimation.
2Adaptability or versatility
If GPS sensors are used for localization, then outdoor localization capability is provided, but localization accuracy deteriorates in indoor conditions
Solution Approach 1:
The patent creates a universal localization system based on inertial sensors that functions equally well in both outdoor and indoor environments. Unlike GPS which is environment-specific, the inertial sensor-based system provides consistent localization capability across all settings, making the solution universally applicable regardless of whether the movable treatment device is used indoors or outdoors.
3Ease of operation
If standard motion classification is used, then general motion detection is provided, but user-specific motion patterns cannot be distinguished
Solution Approach 1:
The patent implements preliminary user training during which the system collects and stores individual user motion patterns before actual localization and classification operations. This pre-acquired user-specific data serves as a reference model, enabling the system to distinguish between different users' motion styles and preferences during subsequent use without requiring real-time adaptation.
Solution Approach 2:
The system incorporates feedback mechanisms where classified motion patterns are compared against stored user-specific profiles, and the classification results are refined based on matching degrees. This feedback loop enables the system to adapt and improve user-specific motion recognition over time, distinguishing between different users' techniques and preferences.
Data Source
AI summary
An apparatus for performing a localization of a movable treatment device having at least one inertial sensor and configured to treat the target surface. The apparatus has a motion pattern classification device configured to discriminate between two or more motion classes contained in a set of motion classes, and an interface for providing, from the inertial sensor to the motion pattern classification device, inertial sensor data representing a movement of the movable treatment device. The motion pattern classification device has a neural network configured to receive and classify inertial sensor data with respect to the motion classes associated with one or more different zones relating to the target surface so that the classification of inertial sensor data indicates an estimation of the location of the movable treatment device with respect to the one or more zones of the target surface.