Robot Pet Monitoring Using Grid Maps for Obstacle-Aware Tracking
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Solution Overview
Problem
Existing pet robot monitoring technologies face challenges in accurately determining the pet's position due to obstacles, leading to suboptimal monitoring effectiveness.
Innovation Solution
A method utilizing a grid map and UWB positioning technology to determine the pet's position relative to the robot, allowing the robot to adjust its position and camera direction to ensure clear monitoring, even in the presence of obstacles, by analyzing grid cells and selecting the best monitoring cell based on distance and obstacle presence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses existing positioning technology to determine pet position, then the robot can track the pet, but the monitoring position cannot be determined accurately when obstacles are present
Solution Approach 1:
The robot divides the monitoring task into two independent parts: position determination (using UWB positioning to get pet coordinates) and obstacle detection (using grid map to check for obstacles). This segmentation allows each function to operate independently and optimally, resolving the contradiction between position accuracy and monitoring reliability.
Solution Approach 2:
The patent introduces a grid map as an intermediary data structure that represents the environment. The grid map acts as a mediator between the robot's positioning system and the camera monitoring system, allowing the robot to plan its monitoring position by querying the grid map for obstacle information without directly interfering with the UWB positioning accuracy.
2Reliability
If the robot moves to eliminate obstacles between itself and the pet, then the monitoring effect improves, but the system complexity increases
Solution Approach 1:
The robot dynamically adjusts its monitoring position based on real-time grid map queries. Instead of a fixed monitoring position, the robot calculates the optimal position by checking the grid map for obstacles and moving to a location where the path to the pet is clear. This dynamic adjustment improves monitoring reliability without requiring complex mechanical restructuring.
Solution Approach 2:
The system implements a feedback loop where the robot continuously queries the grid map for obstacle information between its current position and the pet's position. Based on this feedback, the robot determines whether to move to an alternative position. This feedback mechanism enables adaptive monitoring while keeping the control logic relatively simple.
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
This approach enhances the monitoring efficiency by allowing the robot to find the best position to track the pet without obstruction, improving the accuracy and reliability of pet tracking.
Implementation Method 1
based on wireless communication between each of the first UWB positioning base station and the second UWB positioning base station and a UWB positioning tag on the pet, it is determined that a first distance between the UWB positioning tag and the first UWB positioning base station is R1 and a second distance between the UWB positioning tag and the second UWB positioning base station is R2
Data Source
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AI summary
The disclosure relates to a method for monitoring a pet by a robot based on a grid map and a chip. A mutual position relationship between the pet and the robot is determined through wireless communication between a wireless signal device on the pet and the robot, and then whether there is an obstacle cell or not between grid cells where the robot and the pet are located in the grid map is judged. If NO, it is indicated that the pet may be effectively shot at a present position and shooting direction of the robot, and the present position and shooting direction of the robot are not required to be changed. If YES, it is indicated that no pet but an obstacle may be shot at the present position of the robot, so that the robot is required to judge states of grid cells around the pet to reselect a monitoring position point. The robot may be controlled to find a relatively good monitoring position in such a manner of monitoring the pet in combination with the grid map, so that the problem that the pet is easily obstructed by an obstacle to influence a monitoring effect is solved, and the pet monitoring effect is improved.