Autonomous Robot Navigation Using Ceiling IR Triangulation
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Solution Overview
Problem
Current navigational systems for autonomous robots are limited in their ability to effectively navigate complex environments with multiple obstacles, as they often rely on bump sensors or infrared patterns that can be interfered with by objects, preventing the robot from accurately tracking its location and learning obstacle locations.
Innovation Solution
A navigational system that includes a stationary transmitter emitting infrared signals towards a remote surface, such as a ceiling or wall, and a receiver on the robot that detects these signals to determine its location using azimuth and elevation calculations, allowing the robot to navigate autonomously in cluttered spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If bump sensors or infrared detectors are used to detect obstacles, then the robot can sense nearby objects, but the robot cannot accurately track its location within the working environment
Solution Approach 1:
The patent introduces ceiling-mounted infrared transmitters as intermediary reference points that reflect signals down to the robot. These transmitters serve as mediators between the robot and the working space boundaries, enabling the robot to calculate its position relative to room corners and walls through triangulation, thereby achieving accurate location tracking without direct contact sensors.
Solution Approach 2:
The patent transitions from two-dimensional ground-level obstacle detection to three-dimensional spatial navigation by mounting transmitters on the ceiling. This dimensional shift allows the robot to use vertical angle measurements (elevation) in addition to horizontal positioning, creating a more robust triangulation system that accurately determines location within the working environment.
2Ease of operation
If infrared transmitters are used to calculate robot location, then the robot can navigate the working space, but the system is interfered with by objects present in the working space
Solution Approach 1:
By mounting transmitters on the ceiling rather than on the ground or walls, the system elevates the signal source above most working space objects. This dimensional relocation reduces signal blockage and interference from furniture and equipment, allowing infrared patterns to disperse more freely throughout the workspace while maintaining accurate location calculation.
Solution Approach 2:
The patent divides the working space into multiple zones, each with its own ceiling-mounted transmitter. This segmentation allows the robot to receive signals from multiple transmitters simultaneously, enabling it to triangulate its position more accurately while the distributed arrangement reduces the impact of any single object blocking a particular signal path.
3Reliability
If the robot moves randomly with obstacle detection, then the robot can avoid collisions, but the robot cannot learn obstacle locations or navigate efficiently
Solution Approach 1:
The patent implements a feedback mechanism where the robot continuously calculates its position based on signals from ceiling transmitters and updates its internal map of the working space. This feedback loop allows the robot to learn obstacle locations by correlating its calculated position with sensor data, enabling efficient path planning while maintaining reliable obstacle avoidance through continuous positional awareness.
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
Enables the robot to accurately determine its location and map obstacles within a working area, improving its ability to navigate and perform tasks efficiently in complex environments by integrating with existing systems like bump sensors.
Implementation Method 1
the signals directed to the remote surface are infrared signals
Implementation Method 2
The robot detects the signal energy reflected from the ceiling
Data Source
AI summary
A navigational control system for an autonomous robot includes a transmitter subsystem having a stationary emitter for emitting at least one signal. An autonomous robot operating within a working area utilizes a receiving subsystem to detect the emitted signal. The receiver subsystem has a receiver for detecting the emitted signal emitted by the emitter and a processor for determining a relative location of the robot within the working area upon the receiver detecting the signal.