Mobile Robot Surface Estimation via Posture Contact Correction
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Solution Overview
Problem
Conventional techniques face difficulties in accurately measuring and recognizing the state of a surface portion of the ground when a mobile robot lands on irregular or rough terrain, as the surface is obscured by the robot's foot, leading to challenges in operation control.
Innovation Solution
An operating environment information generating device that includes a measurement section for obtaining spatial arrangement data using external-object recognition sensors, a contact-surface position/posture estimating section to estimate the actual contact surface position and posture based on the robot's posture, and a correcting section to adjust the environment information when discrepancies exceed a predetermined threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile robot uses external-object recognition sensors to measure the surface portion of the ground, then environment information can be obtained for operation control, but the measurement becomes inaccurate when the surface is covered by the robot's foot after landing
Solution Approach 1:
The patent introduces an intermediary estimation mechanism that uses the robot's own posture information as a mediator to infer contact surface characteristics. When the foot covers the ground surface, the system uses posture sensors to detect the robot's body attitude and calculates the contact surface position and posture indirectly, rather than attempting to directly measure the obscured surface.
Solution Approach 2:
The patent replaces the mechanical/optical measurement system (external-object recognition sensors) with a computational estimation system based on posture sensing and geometric calculation. Instead of relying on physical sensors to detect the contact surface, the system substitutes this with mathematical modeling that computes contact surface properties from the robot's measured posture state.
2Adaptability or versatility
If the mobile robot operates on rough or irregular ground, then the robot can navigate diverse terrains, but the geographic features at the landing spot collapse making environment information outdated
Solution Approach 1:
The patent implements a feedback mechanism where the robot's actual contact state (detected through posture sensors during landing) is fed back to correct the environment information. The system continuously monitors the discrepancy between pre-landing environment data and actual contact surface characteristics, then updates the environment information accordingly to maintain its reliability for subsequent navigation decisions.
Solution Approach 2:
The patent performs preliminary measurement of the ground surface before the robot lands, storing this environment information for later use. By capturing the surface state in advance, the system prepares reference data that can be quickly retrieved and corrected based on actual contact observations, enabling rapid adaptation without requiring real-time measurement during the critical landing moment.
3Ease of operation
If the mobile robot uses conventional environment information generation methods, then the system structure remains simple, but it becomes difficult to appropriately operate near the landing spot when surface state changes
Solution Approach 1:
The patent makes the robot's posture sensing system serve multiple functions: it not only controls the robot's balance and movement but also provides critical data for estimating contact surface characteristics. This multi-functional use of existing sensors avoids adding dedicated measurement devices, thereby maintaining system simplicity while enhancing operational capability near the landing spot.
Data Source
AI summary
An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.