Method for constructing a map while performing work
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Solution Overview
Problem
Current mapping techniques for autonomous robotic devices are computationally expensive, require large amounts of memory, and often necessitate additional equipment, limiting their efficiency and cost-effectiveness, especially in environments with complex features and lighting-sensitive sensors.
Innovation Solution
A method involving a robotic device with a camera that maps an environment by traversing and rotating in a boustrophedon pattern, using depth measurements from overlapping fields of view to construct a map with minimal processing power, without the need for external beacons or infrared light patterns, by identifying overlaps and combining depth data to create a comprehensive map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Simultaneous Localization and Mapping (SLAM) with large amounts of captured points and features is used, then mapping accuracy is improved, but computational cost and memory requirements increase substantially
Solution Approach 1:
The patent extracts only the essential features needed for mapping by using a downward-facing camera to capture images of the floor surface. Instead of processing large amounts of captured points from multiple sensors, the system focuses on extracting floor surface characteristics from simple 2D images, significantly reducing computational requirements while maintaining mapping accuracy
Solution Approach 2:
The patent replaces expensive, complex SLAM systems with inexpensive components: a simple downward-facing camera and basic image processing algorithms. The system uses disposable-like simplicity in its approach, relying on straightforward image capture and processing rather than sophisticated, resource-intensive algorithms
2Productivity
If Laser Distance Sensors (LDS) are used for high rate data collection, then data collection speed is improved, but sensitivity to lighting and transparent/reflective objects worsens
Solution Approach 1:
The patent uses a camera to capture optical images of the floor surface, creating a visual copy of the environment. This optical copying approach replaces the laser-based distance sensing, allowing the system to collect spatial data through image capture rather than laser ranging, thus avoiding sensitivity issues with transparent and reflective objects
Solution Approach 2:
The patent changes the sensing parameter from laser distance measurement to optical image capture. By shifting from measuring distance directly with laser to capturing visual information with a camera, the system achieves robustness against lighting variations and transparent/reflective surfaces while maintaining data collection capability
3Measurement precision
If additional equipment for projecting infrared light pattern is used, then mapping capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the robot's existing camera serve multiple functions: it is used both for navigation and for mapping the environment. By utilizing the same downward-facing camera for both movement control and environment mapping, the system eliminates the need for separate mapping equipment such as infrared light projectors or additional sensors
Solution Approach 2:
The robot uses its own existing camera to perform mapping functions that would otherwise require external equipment. The downward-facing camera, already present for navigation purposes, is repurposed to capture floor surface images for mapping, allowing the system to be self-sufficient without additional specialized hardware
Data Source
AI summary
Provided is a process executed by a robot, including: traversing, to a first position, a first distance in a backward direction; after traversing the first distance, rotating 180 degrees in a first rotation; after the first rotation, traversing, to a second position, a second distance in the second direction; and after traversing the second distance, rotating 180 degrees in a second rotation such that the field of view of the sensor points in the first direction.