Autonomous Mobile Robot 3D Mapping for Low-Height Obstacle Navigation
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Solution Overview
Problem
Self-moving robots face hindrance in navigating through obstacles with heights less than their body height, leading to inefficient and unsafe operation in complex environments.
Innovation Solution
Equipping the robot with distance sensors to generate three-dimensional maps by overlaying spatial height information onto two-dimensional maps, allowing for safe and efficient path planning in complex environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot uses a two-dimensional map for navigation, then the map structure is simple and easy to process, but the robot cannot navigate through obstacles with heights less than its body height
Solution Approach 1:
The patent transforms the navigation system from two-dimensional map-based navigation to three-dimensional map-based navigation by adding height information through depth sensors. This dimensional upgrade allows the robot to perceive and navigate around obstacles that would be invisible or misinterpreted in a 2D map, directly resolving the contradiction between simple map structure and reliable obstacle avoidance.
2Length of moving object
If the robot body height is limited, then the robot can operate in confined spaces, but it cannot pass through obstacles with heights less than its body height
Solution Approach 1:
By equipping the robot with depth sensors and implementing 3D map construction, the system adds the height dimension to obstacle detection. This allows the robot to identify and plan paths around low-height obstacles that would otherwise block its movement, enhancing mobility without requiring changes to the robot's physical dimensions.
3Adaptability or versatility
If the robot operates in complex environments with various obstacles, then the robot can perform more diverse tasks, but the navigation safety and efficiency are reduced
Solution Approach 1:
The implementation of three-dimensional mapping provides comprehensive spatial awareness including height information, enabling the robot to safely navigate complex environments with diverse obstacles such as low-hanging objects, uneven terrain, and multi-level structures. This enhances both environmental adaptability and navigation safety simultaneously.
Data Source
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Figure 3~4
AI summary
The self-moving robot includes a robot body (100) and a control center disposed on the body. The body includes a first distance sensor (101) disposed in a horizontal direction used to collect two-dimensional map information and a second distance sensor (102) disposed in a vertical direction used to collect spatial height information. While obtaining the two-dimensional map information of a working surface, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region. Through the distance sensors disposed on the self-moving robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated. In a combined state, the robot invokes and plans a walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment.