Service Robot Forbidden-Zone Detection and Global Relocation
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Solution Overview
Problem
Service robots in complex commercial environments face challenges in avoiding dangerous zones like escalators and maintaining accurate location due to dynamic changes, leading to safety accidents and loss of position.
Innovation Solution
Implementing artificial identifications such as RFID tags, UWB tags, magnetic strips, and two-dimensional codes to detect physical forbidden zones, combined with detection apparatuses like RFID readers, UWB base stations, Hall sensors, and image processing modules, to control motion trajectories and apply global relocation algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional fall prevention sensors or cliff sensors are installed downward on the service robot, then the robot can detect drops, but these sensors are not effective in preventing falls from escalators due to the moving nature and relative height differences
Solution Approach 1:
The patent transitions from downward-facing sensors to forward-facing detection apparatus that identifies artificial markings on the ground plane. This dimensional shift allows the robot to detect escalator edges before approaching them, enabling prevention rather than reaction to potential falls.
Solution Approach 2:
The system performs preliminary detection of artificial identifications (markings) that indicate forbidden zones like escalator edges before the robot reaches dangerous areas. This advance warning allows the robot to plan alternative routes and avoid escalators proactively.
2Reliability
If forbidden zones are set through software, then the robot can be limited from entering dangerous areas, but this method only works when the robot is located accurately and fails when dynamic environmental changes cause the robot to lose its location
Solution Approach 1:
The patent introduces artificial identifications (physical markings) as intermediaries between the robot's location system and the environment. These markings serve as reference points that the detection apparatus can reliably identify to determine the robot's position and orientation, even when other location methods fail due to environmental dynamics.
Solution Approach 2:
The system replaces reliance on purely software-based virtual forbidden zones with a hybrid approach using physical artificial identifications detected by specialized sensors. This substitution provides a more robust location reference system that works independently of complex environmental mapping and localization algorithms.
3Ease of operation
If the robot uses traditional navigation methods, then it can operate in simple environments, but it cannot maintain accurate location and avoid dangerous zones in complex commercial scenarios with dynamic changes
Solution Approach 1:
The patent segments the navigation problem into two independent components: (1) detection of artificial identifications to determine robot pose, and (2) path planning based on this pose information. This segmentation allows each component to be optimized independently, with the detection system focusing on reliable identification and the planning system focusing on safe navigation.
Solution Approach 2:
The detection apparatus serves multiple functions: it identifies the robot's location, determines its heading angle, and simultaneously detects artificial identifications that mark forbidden zones. This multi-functionality eliminates the need for separate systems for localization and obstacle avoidance, providing a unified navigation solution for complex environments.
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
Prevents service robots from entering dangerous zones and ensures accurate global relocation, enhancing safety and environmental adaptability by using tangible artificial identifications and global location algorithms.
Implementation Method 1
the detection apparatus includes the RFID reader when the artificial identification includes the RFID tag
Implementation Method 2
the detection apparatus includes the UWB base station when the artificial identification includes the UWB tag
Implementation Method 3
the detection apparatus includes the Hall sensor when the artificial identification includes the magnetic strip
Data Source
AI summary
The present disclosure provides a method for detecting a physical forbidden zone and global relocating of a service robot, the method comprising: presetting an identification on an edge of the physical forbidden zone that the service robot cannot enter in a working scenario; constantly detecting whether there is an artificial identification in the working scenario during operations of the service robot; identifying the artificial identification and confirming a position and heading angle information of the service robot relative to the artificial identification when there is artificial identification information in the working scenario; controlling a motion trajectory of the service robot according to the position and heading angle information of the service robot relative to the artificial identification to forbid the service robot from entering a respective physical forbidden zone.