Mobile Robot Sensor Initialization Diagnosis for Stable Wake-Up
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Solution Overview
Problem
Existing methods for initializing a mobile robot's operation are inadequate in ensuring stable performance without causing erroneous operations, particularly during the transition from an idle or charging state to an active state.
Innovation Solution
A method and system for diagnosing and correcting the initialization state of a mobile robot by using a base station with an initialization diagnosis marker and processor to evaluate the quality of diagnosis target modules, including camera, Lidar, and IMU, through commands that analyze images and sensor data to correct parameters and ensure stable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional initialization methods are used when the mobile robot transitions from idle or charging state to active state, then the robot can start operation, but erroneous operations occur and stable performance cannot be ensured
Solution Approach 1:
The system performs preliminary initialization diagnosis before the mobile robot transitions from idle or charging state to active state. The processor executes initialization diagnosis commands to evaluate various modules (camera, Lidar, IMU, motors, sensors) and corrects initialization parameters in advance, preventing erroneous operations during subsequent active operation.
Solution Approach 2:
The system implements feedback by continuously monitoring module responses during initialization and comparing them against expected values. The processor receives diagnosis acquisition information from various modules, calculates initialization quality evaluation results, and automatically corrects parameters based on the evaluation, ensuring reliable operation before the robot becomes active.
2Measurement precision
If comprehensive initialization diagnosis is performed for all modules, then initialization quality is improved, but system complexity and diagnosis time increase
Solution Approach 1:
The initialization diagnosis system is segmented into independent module-specific diagnosis routines. Each module (camera, Lidar, IMU, motors, sensors) has its own initialization diagnosis command and evaluation criteria. The processor selectively executes relevant diagnosis routines based on the robot's state transition, maintaining comprehensive coverage while managing complexity through modular organization.
3Reliability
If initialization diagnosis is performed during state transition, then erroneous operations are prevented, but operation time is lost during diagnosis
Solution Approach 1:
The initialization diagnosis is performed as a preliminary action during the natural state transition period when the robot wakes up from idle or charging state. By utilizing this transition time for diagnosis and correction before active operation begins, the system prevents operation time loss during actual task execution while ensuring reliable startup.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Precise diagnosis and correction of initialization parameters, such as camera pitching angle and Lidar sensor angles, enable stable operation of the mobile robot by identifying and correcting sensor values, preventing erroneous operations.
Implementation Method 1
a base station, in which the mobile robot is charged or the mobile robot stops in an idle state to be located; an initialization diagnosis marker including a reflector which reflects at least some of incident optical signals again to be identifiable by a camera module or a Lidar module
Data Source
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AI summary
The present invention provides a method and a system for initialization diagnosis of a mobile robot. The present invention comprises the steps, executed by at least one processor included in a mobile robot, of executing an initialization diagnosis command to cause an initialization operation to be performed, the initialization operation being necessary to determine an initialization quality when a diagnosis target module transitions from an idle state to a wake-up state; receiving diagnosis acquisition information including a response according to the initialization diagnosis command in the wake-up state of the diagnosis target module; and ,by using a task mission to be performed by the mobile robot and the diagnosis acquisition information, calculating an initialization quality evaluation result value indicating the initialization quality of the diagnosis target module, and executing a response operation according to the initialization quality evaluation result value.