Mobile Robot Ceiling Pattern Path Planning
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Solution Overview
Problem
Autonomous mobile robots face inaccuracies in path planning due to errors from feature point extraction, odometry, and camera geometry, leading to incorrect position and travel path settings.
Innovation Solution
An apparatus and method that extract patterns from ceiling images to determine the inherent direction of a space, using a pattern extracting unit, a pattern direction extracting unit, and a path generating unit to adjust the mobile robot's path to align with the extracted pattern direction, thereby improving navigation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM algorithms are used for localization and mapping, then the mobile robot can build up a map of surroundings and track its current location, but numerous errors from feature point extraction, odometry, and camera geometry accumulate resulting in inaccurate position and travel path settings
Solution Approach 1:
The patent introduces ceiling patterns as an intermediary reference system. Instead of relying solely on SLAM algorithms that accumulate errors from multiple sensors, the system uses fixed ceiling patterns (lights, vents, decorations) as stable reference points. The mobile robot captures images of these patterns, extracts their positions and orientations, and uses them to correct accumulated navigation errors, thereby improving position accuracy without being affected by odometry and feature extraction errors.
2Productivity
If the mobile robot follows a straight path generated by path planning, then it can efficiently reach the target, but it may encounter obstacles requiring frequent direction changes reducing navigation efficiency
Solution Approach 1:
The patent implements dynamic path adjustment by continuously monitoring ceiling patterns along the planned path. When an obstacle is detected or the path needs adjustment, the system dynamically recalculates the route by identifying alternative ceiling patterns as waypoints. This allows the robot to adapt its path in real-time without complex manual intervention, maintaining navigation efficiency while easily handling obstacles through automated recalculation based on ceiling reference points.
Data Source
AI summary
An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.