Autonomous Robot Navigation With Virtual No-Go Zones
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Solution Overview
Problem
Existing autonomous mobile robots face challenges in safely navigating around restricted areas without relying on inflexible and energy-dependent physical markers, and there is a need for a method to simplify and robustly handle virtual restricted areas to prevent unintended damage or collisions.
Innovation Solution
The method involves using sensors and a map to detect obstacles and virtual restricted areas, treating them similarly to real obstacles for path planning, and storing their positions to avoid collisions, with the option to project position-related information onto the environment for user input and confirmation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physical markers (infrared lighthouse, magnetic strips) are used to define no-go zones, then the robot can reliably detect and avoid restricted areas, but the solution restricts user freedom in designing living space and requires additional power supply
Solution Approach 1:
The patent creates a virtual copy of physical obstacles by projecting 3D obstacle data onto the 2D navigation map. This virtual representation allows the robot to avoid restricted areas without physical markers, eliminating the need for infrared lights or magnetic strips while maintaining reliable detection through sensor data processing
Solution Approach 2:
The patent replaces mechanical/physical marker systems (infrared lighthouses, magnetic strips) with an optical-sensor-based virtual mapping system. The robot uses its existing sensors to detect obstacles and automatically generates virtual exclusion zones on the navigation map, eliminating the need for separate physical marking devices and their power supplies
2Device complexity
If virtual exclusion zones are defined directly on the map, then no additional physical markers are required, but user error or measurement errors can lead to the robot entering restricted areas
Solution Approach 1:
The patent performs preliminary validation of virtual exclusion zones by checking whether they properly enclose detected obstacles before adding them to the navigation map. The system calculates geometric properties and verifies containment relationships, preventing erroneous exclusion zones from being created due to measurement or user errors
Solution Approach 2:
The patent implements a feedback mechanism where the robot continuously detects obstacles, validates the corresponding virtual exclusion zones on the navigation map, and adjusts its navigation accordingly. This closed-loop approach ensures that virtual exclusion zones remain accurate and reliable by comparing sensor data with map data in real-time
3Ease of operation
If the robot treats virtual exclusion zones like real obstacles, then path planning can effectively avoid restricted areas, but the robot must accurately determine its position and the position of virtual obstacles
Solution Approach 1:
The patent merges the treatment of virtual exclusion zones with real obstacles by implementing a unified path planning approach. Both virtual and physical obstacles are represented on the same navigation map and handled by the same avoidance algorithms, simplifying the control system while maintaining measurement precision through consistent coordinate systems and validation procedures
Data Source
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AI summary
The invention relates to a method for controlling an autonomous, mobile robot which is designed to navigate independently in a robot deployment area, using sensors and a map. According to one embodiment, the method comprises detecting obstacles and calculating the position of detected obstacles based on measurement data received by the sensors, and controlling the robot to avoid a collision with a detected obstacle, the map comprising map data that represents at least one virtual blocked region which, during the control of the robot, is taken into account in the same way as an actual, detected obstacle.