Robot Height-Transition Detection for Curb and Step Navigation
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Solution Overview
Problem
Autonomous robots face limitations in navigating through environments with obstacles, particularly curbs and transitions between height levels, as existing systems rely on complex and prone-to-failure laser range scanners, restricting their usability to obstacle-free routes.
Innovation Solution
A method and system that enable a robot to detect and respond to transitions between height levels by generating a three-dimensional data set of its surroundings, categorizing transitions based on characteristics like height and steepness, and performing appropriate actions such as traversing or climbing, using sensors like 3D cameras and range sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses two laser range scanners to detect obstacles, then the detection capability is improved, but the device complexity increases and reliability decreases
Solution Approach 1:
The patent combines multiple detection functions into a single sensor system. Instead of using separate laser range scanners for different detection purposes, the robot employs one sensor (such as a stereo camera system or single laser scanner) that performs both obstacle detection and height transition detection, thereby reducing device complexity while maintaining detection capability
Solution Approach 2:
The detection system is designed to serve multiple functions simultaneously. The sensor can detect various types of obstacles including curbstones, steps, and other height transitions, as well as general obstacles in the path. This multi-functional approach eliminates the need for specialized sensors for each detection task
2Device complexity
If the robot is limited to routes without obstacles, then the detection system can be simpler, but the adaptability and usability decrease
Solution Approach 1:
The robot performs preliminary detection of obstacles and height transitions before encountering them during navigation. By detecting curbstones and other obstacles in advance using the sensor system, the robot can plan appropriate responses (such as climbing or avoiding) before reaching the obstacle, enabling it to handle varied terrain without requiring complex real-time reaction systems
Solution Approach 2:
The robot's navigation system is designed to be dynamic and adaptive. Instead of being constrained to pre-defined obstacle-free routes, the system can dynamically adjust the path and select appropriate traversal methods based on real-time sensor data about obstacles and height transitions, allowing flexible navigation across diverse terrains
3Measurement precision
If the robot uses complex laser scanners for obstacle detection, then detection precision is improved, but the ease of operation and maintenance worsen
Solution Approach 1:
The patent employs stereo vision systems that create a visual copy or representation of the environment through image processing. Instead of relying on complex physical laser scanning mechanisms, the system uses optical copying (camera images) to detect obstacles and height transitions, simplifying the physical hardware while maintaining detection accuracy through computational methods
Solution Approach 2:
The system replaces complex mechanical laser scanning components with optical sensors (cameras) and computational algorithms. By substituting mechanical detection systems with optical-field-based solutions, the patent reduces mechanical complexity and improves ease of operation while achieving comparable or superior detection precision through image processing
Data Source
AI summary
The present invention relates to a method of a robot (30) responding to a transition (40) between height levels, the method comprising a robot (30) travelling, sensing information of the surroundings of the robot (30) and generating a three dimensional data set corresponding to a heightmap of the surroundings of the robot (30) based on the information, detecting a transition (40) between different height levels (10, 20) in the three dimensional data set, categorizing the transition (40) between the different height levels (10, 20) by means of at least one characteristic, the robot (30) performing a response action, which response action depends on the categorization of the transition (40). The present invention also relates to a corresponding system.