Robot Repositioning Using Isolated Obstacle Edge References
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Solution Overview
Problem
Existing sweeping robots face inaccurate positioning due to accumulated walking errors, which are not effectively addressed by methods requiring expensive hardware like cameras or laser radars.
Innovation Solution
A robot repositioning method that utilizes the robot to detect and walk along the edge of obstacles, determining if they are isolated objects, and adjusts its path based on similarities with previously stored paths to correct positioning errors without expensive sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual positioning or laser radar is used to solve walking error accumulation, then positioning accuracy is improved, but hardware cost increases
Solution Approach 1:
The patent creates a virtual copy of the environment by constructing local maps from sensor data during robot movement. These digital maps serve as references for positioning without requiring expensive physical positioning hardware. The robot compares its current sensor observations with the stored map to determine its position, effectively copying environmental features into a computable format for navigation.
Solution Approach 2:
The patent replaces mechanical/optical positioning systems (cameras, laser radars) with an information-processing approach using basic sensors. Instead of using expensive hardware for direct position measurement, the system substitutes a computational method that uses wheel odometry and sensor fusion to infer position from movement data and environmental observations, eliminating the need for specialized positioning hardware.
2Measurement precision
If the robot walks along the edge of obstacles to reposition, then positioning accuracy is improved, but time consumption increases
Solution Approach 1:
The patent performs preliminary actions by continuously constructing and updating local maps during the robot's normal cleaning operations. Rather than dedicating separate time for mapping, the system accumulates environmental data during routine movement, so that when repositioning is needed, the map is already available for immediate comparison and position correction.
Solution Approach 2:
The patent implements feedback by continuously comparing the robot's current sensor observations with the stored local map during movement. When discrepancies are detected between expected and actual sensor readings, the system adjusts its position estimate in real-time, creating a closed-loop feedback mechanism that corrects positioning errors as they accumulate during operation.
Data Source
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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.