Robot Coverage Mapping With Clutter-Based Area Sequencing
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Solution Overview
Problem
Autonomous robots lack predictability and user control in their mission operations, as users have limited understanding of the areas they will cover and no input on the mission details.
Innovation Solution
A computing system that generates a segmentation map of a surface based on occupancy data, classifies areas as non-clutter and clutter, and computes a coverage pattern for navigation, allowing the robot to sequentially traverse these areas in a predetermined sequence, which can be modified by user input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot operates autonomously without user input, then the automation level increases, but the user's understanding and control of the mission decreases
Solution Approach 1:
The system provides real-time feedback to the user through a graphical user interface that displays the segmentation map, coverage pattern, and robot's current status. This allows users to monitor and understand the autonomous mission while maintaining high automation levels.
Solution Approach 2:
A communication interface acts as an intermediary between the autonomous robot and the user. This interface translates complex autonomous operations into visual representations that users can understand, bridging the information gap without reducing automation.
2Productivity
If the robot follows a predetermined coverage pattern, then the operational efficiency increases, but the adaptability to user preferences decreases
Solution Approach 1:
The coverage pattern is dynamically adjustable. Users can modify the predetermined pattern through the graphical interface based on their preferences or changing conditions, allowing the system to maintain efficiency while adapting to user needs.
Solution Approach 2:
The system allows users to change parameters of the coverage pattern such as cleaning levels for different areas, sequence of region traversal, and boundary definitions. These parameter adjustments enable customization without sacrificing the structured efficiency of predetermined patterns.
3Ease of operation
If the robot cleans all areas uniformly, then the simplicity of operation increases, but the thoroughness of coverage in different area types decreases
Solution Approach 1:
The system applies different cleaning levels to different areas based on their classification. Non-clutter areas receive one cleaning level while clutter areas receive another, ensuring thorough coverage appropriate to each area type while maintaining simple automated operation.
Solution Approach 2:
The environment is segmented into different types of areas (non-clutter and clutter) based on occupancy data. This segmentation allows the robot to apply differentiated cleaning strategies to different segments, improving overall coverage thoroughness without complicating user operation.
4Device complexity
If the robot navigates without area classification, then the device complexity decreases, but the navigation precision and coverage optimization decreases
Solution Approach 1:
The system performs preliminary classification of areas into non-clutter and clutter zones before execution of the cleaning mission. This pre-processing of spatial information enables optimized navigation paths without adding significant complexity to the overall system.
Solution Approach 2:
The system adds a classification dimension to the navigation space by categorizing areas based on occupancy data. This additional dimensional information allows for more precise navigation and coverage optimization while maintaining relatively simple system architecture.
Data Source
AI summary
A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.