Mobile Robot Localization Using Wireless Signal Coverage Maps

The patent combines multiple localization approaches by integrating sensor-based localization data with wireless communication signal data. The robot simultaneously processes information from its onboard sensors and Wi-Fi signals from surrounding electronic devices, merging these data sources to achieve more accurate and reliable localization than either method could provide alone in unpredictable household environments.

The patent introduces wireless communication signals as an intermediary element for localization. Instead of relying solely on direct sensor measurements that may fail in certain conditions, the system uses Wi-Fi signals from electronic devices as intermediate reference points to determine the robot's position, thereby improving reliability in environments where traditional sensor-based methods struggle.

The patent makes the robot's localization system multi-functional by enabling it to process both traditional sensor data and wireless communication data through a unified framework. The same processor that handles sensor fusion also processes Wi-Fi signal strength data and electronic device location information, allowing the system to adapt to different environmental conditions without requiring separate specialized processing paths.

The patent changes the parameters used for localization by incorporating wireless signal strength measurements alongside traditional sensor measurements. The system dynamically adjusts the weight and importance of different data sources based on their reliability in current conditions, transforming the localization problem from a single-parameter task to a multi-parameter optimization problem that improves adaptability.

The patent performs preliminary mapping of wireless communication signals and electronic device locations during periods when the robot is stationary or performing other tasks. By pre-establishing the relationship between Wi-Fi signal strengths and physical locations, the system creates a reference map that can be quickly consulted during navigation, avoiding the need to perform comprehensive signal mapping in real-time and thus reducing mapping time.

The patent implements partial signal mapping by focusing on mapping only the most relevant wireless signals and electronic devices in the current operational area, rather than attempting to map all possible signals in the entire environment. This selective approach reduces the computational burden and time required for mapping while still achieving sufficient positioning accuracy for navigation tasks.