Mobile Robot Optical Sensor Contamination Detection for Safe Navigation
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Solution Overview
Problem
Mobile robots used outdoors are vulnerable to contamination of their optical sensors, leading to incorrect object identification and potential operational failures due to environmental exposure.
Innovation Solution
A mobile robot system that detects contamination of optical sensors and takes appropriate action, including a method to identify contaminants, determine the degree of contamination, and adjust operation modes accordingly, with a charging station designed to clean the sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the mobile robot operates outdoors with exposed optical sensors, then the robot can perform grass cutting operations, but the optical sensors become contaminated leading to incorrect object identification
Solution Approach 1:
The system continuously monitors image quality from the optical sensor and provides feedback about contamination levels. When contamination is detected, the system adjusts operation modes or triggers cleaning mechanisms, creating a closed-loop control system that maintains reliability despite outdoor exposure
Solution Approach 2:
The mobile robot autonomously detects its own sensor contamination status and initiates appropriate responses without external intervention. The system self-diagnoses contamination levels and self-corrects by switching to alternative operation modes or triggering self-cleaning mechanisms
2Ease of operation
If the optical sensor is exposed to detect objects, then the robot can identify obstacles and navigate, but the sensor becomes vulnerable to contamination from environmental factors
Solution Approach 1:
The system performs preliminary contamination detection before navigation decisions are made. By continuously monitoring sensor status in advance, the system can prevent navigation errors by detecting contamination early and switching to alternative operation modes before incorrect object identification occurs
Solution Approach 2:
The system introduces an intermediary contamination detection and evaluation mechanism between the optical sensor and the navigation decision-making process. This intermediary layer filters out contamination-related errors and prevents them from affecting navigation accuracy
3Productivity
If the robot continues operation with contaminated sensors, then productivity is maintained, but malfunctions and accidents may occur
Solution Approach 1:
The system dynamically adjusts operation modes based on real-time contamination levels. Instead of static operation, the robot transitions between different operational states (normal operation, limited operation, shutdown) depending on the severity of contamination, optimizing the balance between productivity and safety
Solution Approach 2:
The system prepares compensatory measures in advance for potential sensor failures. By having alternative operation modes and cleaning mechanisms ready beforehand, the system cushions against the harmful effects of contamination before they can cause malfunctions or accidents
Data Source
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AI summary
A mobile robot and a method performed by the mobile robot are provided. The mobile robot includes a main body, a plurality of wheels mounted on the main body, a blade mounted on the main body to cut grass, an optical sensor configured to generate an image with a field of view facing a front of the main body, a user interface configured to obtain a user input and provide information about an operation of the mobile robot, and at least one processor. The at least one processor is configured to identify a plurality of objects from the image obtained while the main body moves, determine an object detected for a predetermined period of time among the plurality of identified objects to be a contaminant, determine a degree of contamination of the optical sensor based on a characteristic of the contaminant and a location of the contaminant in the image, provide information corresponding to the degree of contamination of the optical sensor via the user interface, and determine an operation mode of the mobile robot based on the degree of contamination of the optical sensor.