Method for creating an environment map for an automatically moveable processing device
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Solution Overview
Problem
Existing methods for generating environment maps for automatically movable processing devices, such as cleaning robots, struggle to provide a clear and intuitive representation of obstacles, as they often detect individual parts of objects rather than the objects as a whole, making it difficult for users to interpret and navigate around furniture and other obstacles.
Innovation Solution
The integration of additional sensors that provide obstacle data from diverse perspectives, combined with data from the primary detection device, allows for a more comprehensive and realistic representation of obstacles in the environment map, including shape, color, and position, enabling better navigation and user orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single detection device is used to detect obstacles, then the device complexity is reduced, but the measurement precision and completeness of obstacle data deteriorate
Solution Approach 1:
The patent combines data from multiple detection devices (first detection device on the processing device and second detection device as additional sensor) to create a comprehensive environment map. This merging of detection sources resolves the contradiction by achieving high measurement precision through multiple sensors while managing complexity through coordinated data fusion rather than independent systems.
Solution Approach 2:
The patent introduces a second detection device that captures obstacle data from a different spatial perspective (e.g., top-down view versus side view). This dimensional addition allows the system to achieve complete 3D obstacle characterization without requiring an overly complex single-sensor system, resolving the precision-complexity contradiction.
2Measurement precision
If multiple sensors are used to detect obstacles from different perspectives, then the measurement precision and completeness of obstacle data are improved, but the device complexity increases
Solution Approach 1:
The patent designs the detection system where each sensor serves multiple functions: the first detection device provides both obstacle detection and distance measurement, while the second detection device provides both obstacle detection and perspective verification. This multi-functionality reduces overall system complexity compared to having specialized sensors for each function.
Solution Approach 2:
The patent introduces an evaluation device that acts as an intermediary to process and fuse data from multiple detection devices. This mediator manages the complexity of coordinating multiple sensors by centralizing data fusion logic, making the system more manageable despite using multiple sensors for improved precision.
3Loss of information
If obstacle data from multiple sources are combined, then the environment map clarity and user interpretability are improved, but the processing time and data fusion complexity increase
Solution Approach 1:
The patent performs preliminary processing of obstacle data at the source detection devices before fusion, where each device pre-processes its raw sensor data into standardized obstacle representations. This preliminary action reduces the complexity and time required for subsequent data fusion at the evaluation device, resolving the information completeness-time loss contradiction.
4Measurement precision
If the detection device detects individual obstacle parts separately, then the detection precision for small components is improved, but the object recognition and user interpretability deteriorate
Solution Approach 1:
The patent merges detection data from multiple perspectives to reconstruct complete objects from detected parts. The first detection device detects individual components with high precision, while the second detection device provides contextual information about the complete object structure, and the evaluation device fuses these to restore object context, resolving the precision-context contradiction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy and clarity of the environment map, allowing the processing device to better navigate around obstacles and enabling users to recognize and target specific objects, such as furniture, for precise cleaning tasks.
Implementation Method 1
an optical triangulation system with a light source and receiver unit. While traversing a room, the triangulation system measures the distance from an obstacle
Implementation Method 2
the additional sensor detect the obstacles from a perspective deviating from the perspective of the detection device of the processing device, in particular in a top view of the obstacles
Data Source
AI summary
A method for creating an environment map for an automatically moveable processing device, in particular a cleaning robot, wherein a detection device of the processing device detects obstacles in the environment of the processing device and an environment map of the processing device is created based on detected obstacle data of the obstacles. At least one additional sensor detects obstacles in the environment of the processing device, wherein the distance of the additional sensor to the processing device is changed and wherein the obstacle data detected by the additional sensor is combined in the environment map with the obstacle data detected by the detection device of the processing device. In addition to the method for creating an environment map for an independently moveable processing device, the invention also relates to a system for creating an environment map for an independently moveable processing device.