Robot Repositioning Using Isolated Obstacle Edge Paths

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Solution Overview

Problem

Existing robot repositioning methods, such as using cameras or laser radars, are costly and not suitable for widespread application in sweeping robots, leading to inaccurate positioning due to accumulated walking errors.

Innovation Solution

A method where the robot detects obstacles, walks along their edges to determine if they are isolated objects, records and compares edge paths to identify reference paths for repositioning, and adjusts grid coordinates based on overlapping local maps to correct position deviations without expensive hardware.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a camera or laser radar is added for visual positioning or ranging positioning, then positioning accuracy is improved, but hardware cost increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidhardware cost

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent creates a virtual copy of the environment by constructing local maps and recording edge paths during robot navigation. Instead of using expensive physical sensors like cameras or laser radars, the system creates informational copies of the spatial environment through odometry data and obstacle detection, then uses these copies for positioning by matching current edge paths with stored reference paths.

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces the mechanical/optical sensing system (camera or laser radar) with a computational approach using existing onboard sensors. The system substitutes physical positioning hardware with software-based positioning that processes data from odometry and simple obstacle detectors to achieve the same positioning function through algorithmic means rather than dedicated sensing hardware.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If the robot walks along the edge of the obstacle to determine isolated objects, then positioning accuracy is improved, but time consumption increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidtime consumption

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent performs preliminary actions by constructing local maps and recording edge paths during the robot's normal navigation and exploration phases. Instead of dedicating separate time for positioning, the system accumulates positioning reference data (edge paths of isolated objects) as the robot naturally moves through the environment, so that when positioning is needed, the matching process can quickly retrieve pre-recorded reference information.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent makes the positioning data collection continuous with the robot's navigation activity. Every time the robot encounters an obstacle and walks along its edge, useful positioning data is being accumulated. This continuous data collection during normal operation eliminates the need for separate positioning missions, as the robot is simultaneously navigating and building its positioning reference library.

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS11537142B2Method for robot repositioning

Publication Date: 2022.12.27 AMICRO SEMICONDUCTOR CO LTD

AI summary

A robot repositioning method is provided. A position deviation caused by excessive accumulation of a walking error of a robot may be corrected to implement repositioning by taking a path that the robot walks along an edge of an isolated object as a reference, so that the positioning accuracy and walking efficiency of the robot during subsequent navigation and walking are improved.