Robot 3D Mapping via Empty-Region Sensor Relocation
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Solution Overview
Problem
Existing robot systems struggle to efficiently model real spaces where the state around the exploration region is unknown, requiring significant effort to predefine the exploration region and may not be applicable when the periphery is unknown.
Innovation Solution
A robot system that recognizes empty regions in a real space using a sensor, disposes the sensor in these regions, and models the space based on both initial and newly acquired three-dimensional data, allowing for versatile and efficient modeling even in unknown environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the exploration region is predefined in advance, then the robot system can perform systematic mapping, but it requires significant effort and is not applicable when the periphery is unknown
Solution Approach 1:
The system performs preliminary recognition of empty regions using initial three-dimensional data before actual exploration. This preliminary action identifies suitable starting positions for the sensor, enabling the robot to begin systematic mapping without requiring the entire exploration region to be predefined in advance.
Solution Approach 2:
The exploration region is not fixed but dynamically expanded. The system starts with an initial empty region, performs exploration, then uses the acquired data to recognize new empty regions and continuously extends the exploration boundary. This dynamic approach allows adaptation to unknown environments while maintaining systematic mapping.
2Measurement precision
If the sensor remains at a fixed position, then data acquisition is simple, but blind spots cannot be detected and modeling is incomplete
Solution Approach 1:
The system uses feedback from acquired three-dimensional data to guide sensor positioning. After each exploration, the system analyzes the data to recognize new empty regions, then controls the robot to move the sensor to these regions. This feedback loop ensures comprehensive coverage while avoiding redundant movements, balancing completeness with controlled complexity.
Solution Approach 2:
The robot system performs self-guided exploration by automatically recognizing empty regions from its own acquired data and autonomously navigating to new exploration positions. This self-service capability eliminates the need for complex external control systems while ensuring complete space modeling through systematic coverage.
3Measurement precision
If the robot explores the entire space systematically from the beginning, then complete mapping is achieved, but the process is inefficient when the periphery is unknown
Solution Approach 1:
The exploration space is segmented into multiple empty regions rather than treating it as a single predefined area. The system identifies and explores one empty region at a time, using acquired data to recognize and transition to the next region. This segmentation enables efficient progressive exploration while ensuring complete mapping coverage.
Solution Approach 2:
The system performs preliminary recognition of empty regions using initial three-dimensional data before comprehensive exploration begins. This preliminary action identifies viable starting positions and enables the robot to systematically progress through different regions, achieving complete mapping efficiently without requiring the entire space to be predefined.
Data Source
AI summary
A robot system includes: a sensor configured to acquire three-dimensional data of an object disposed in a real space; a robot configured to change a position of the sensor; circuitry configured to: recognize, based on three-dimensional first data acquired by the sensor, an empty region in the real space where the object does not exist; control the robot so as to dispose the sensor in the empty region; and model the real space based on recognized empty regions including the empty region and a new empty region, the new empty region recognized based on three-dimensional second data newly acquired by the sensor from the empty region.