Autonomous Robot Navigation Using Ceiling-Reflected Infrared Signals
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Solution Overview
Problem
Current navigational systems for autonomous robots are limited in their ability to effectively navigate complex environments with multiple obstacles, as they often rely on bump sensors or infrared patterns that can be interfered with by objects, preventing robots from accurately tracking their location and learning obstacle layouts.
Innovation Solution
A navigational system that includes a stationary transmitter emitting signals towards a remote surface, such as a wall or ceiling, and a receiver on the robot that detects these signals to determine its location using azimuth and elevation calculations, allowing the robot to navigate autonomously in cluttered spaces by emitting and processing coded infrared signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If infrared transmitters emit dispersed patterns around the robot, then the robot can calculate its location using stationary receivers, but the system fails in working spaces with objects that interfere with the infrared signals
Solution Approach 1:
The patent transitions from horizontal infrared signal transmission at ground level to vertical signal transmission by projecting patterns onto the ceiling. This dimensional change elevates the working plane from the floor to the ceiling, allowing signals to pass through cluttered workspace without obstruction from objects at ground level.
Solution Approach 2:
The ceiling surface acts as an intermediary medium. Instead of transmitting infrared signals directly through the workspace, the system projects patterns onto the ceiling which then reflect downward to the robot's sensors. This intermediary approach allows signals to bypass obstacles in the workspace while maintaining accurate location tracking.
2Reliability
If bump sensors and infrared detectors are used for obstacle detection, then the robot can avoid immediate obstacles, but the robot cannot track its location or learn obstacle layouts in complex environments
Solution Approach 1:
The system segments the navigation function into two independent components: obstacle avoidance (handled by bump sensors and infrared detectors) and location tracking (handled by ceiling projection patterns). This segmentation allows each subsystem to operate independently without interference, enabling both reliable obstacle avoidance and accurate location tracking simultaneously.
Solution Approach 2:
The ceiling projection system serves multiple functions: it provides location tracking for the robot, enables environmental mapping by tracking pattern positions, and works complementarily with obstacle detection systems. This multi-functionality resolves the limitation where obstacle avoidance systems could not also provide location tracking capabilities.
3Measurement precision
If the robot uses ceiling-projected infrared patterns for navigation, then the robot can accurately track its location in cluttered spaces, but the system requires integration with existing sensor systems
Solution Approach 1:
The patent merges the ceiling projection location tracking system with existing obstacle detection systems (bump sensors and infrared detectors). By combining these systems, the robot achieves both accurate location tracking and reliable obstacle avoidance, with each system compensating for the limitations of the other.
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
Enables accurate location determination and obstacle mapping within a working area, enhancing the robot's ability to navigate and perform tasks efficiently in complex environments by integrating with existing systems like bump sensors.
Implementation Method 1
Generally, the signals directed to the remote surface are infrared signals
Implementation Method 2
The robot detects the signal energy reflected from the ceiling
Data Source
AI summary
An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area based on input from the receiver.