Autonomous Navigation Mapping for Variable Lighting Conditions

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Solution Overview

Problem

Autonomous machines face challenges in navigating effectively across varying lighting conditions, particularly outdoors during daytime, nighttime, and transitions between the two, which limits their operational flexibility and maintenance schedules.

Innovation Solution

The method involves creating a navigation map with containment zones and determining feature detection ranges and scores based on environmental lighting parameters, allowing the machine to operate autonomously within defined localization regions and buffer zones, and adjusting its operation mode accordingly to ensure continuous functionality across different lighting conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If vision-based navigation is used for autonomous machine operation, then navigation capability is improved, but operation is limited to specific lighting conditions

Engineering Contradiction:

Improveautonomous navigation capabilityVSAvoidlighting condition adaptability

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The system dynamically adjusts the operating mode based on real-time lighting conditions. The controller switches between daylight mode, twilight mode, and nighttime mode to maintain autonomous navigation capability across varying lighting environments. This dynamic adaptation resolves the contradiction by making the navigation system flexible rather than fixed to specific lighting conditions.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes operational parameters (operating mode) in response to lighting parameter changes. By monitoring lighting conditions and adjusting the operating mode accordingly, the system maintains navigation functionality across different lighting scenarios, from daylight through twilight to nighttime conditions.

Inventive Principle:

Principle #35Parameter changes

2Reliability

If autonomous operation is restricted to daylight conditions, then navigation reliability is improved, but maintenance schedule flexibility is reduced

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidmaintenance schedule flexibility

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system transitions from static daylight-only operation to dynamic multi-mode operation. By implementing twilight mode and nighttime mode with appropriate safety margins and localization requirements, the system maintains reliability while enabling flexible maintenance scheduling across different times of day.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The operating day is segmented into distinct lighting conditions (daylight, twilight, nighttime), each with its own operating mode. This segmentation allows the system to apply appropriate navigation and safety parameters for each condition, maintaining reliability while expanding operational windows for maintenance tasks.

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If the machine operates in twilight or nighttime conditions, then maintenance schedule flexibility is improved, but navigation reliability may deteriorate

Engineering Contradiction:

Improveoperational time flexibilityVSAvoidnavigation reliability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system applies different operational qualities and safety margins to different lighting conditions. Nighttime operation includes additional safety margins, localization region constraints, and operating mode requirements compared to daylight operation. This localized adaptation maintains reliability while enabling nighttime operation.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system incorporates safety margins and preliminary localization region determination before nighttime operation begins. By pre-defining containment zones and localization regions based on training data, the system cushions against potential navigation failures during low-light conditions, maintaining reliability while enabling flexible scheduling.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Data Source

PatentUS20230020033A1Autonomous machine navigation in various lighting environments

Publication Date: 2023.01.19 THE TORO COMPANY

AI summary

Training an autonomous machine in a work region for navigation in various lighting conditions includes determining a feature detection range based on an environmental lighting parameter, determining a feature detection score for each of one or more positions in the containment zone based on the feature detection range, determining one or more localizable positions in the containment zone based on the corresponding feature detection scores, and updating the navigation map to include a localization region within the containment zone based on the one or more localizable positions. Navigation may use one or more of an uncertainty area, the localization region, and one or more buffer zones to navigate based on lighting conditions.