Robotic Touch Sensing With Bayesian Sensor Fusion for Autonomous Cleaning
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Solution Overview
Problem
Current household robots lack the ability to autonomously perform tasks such as cleaning by manipulating objects and cleaning surfaces, as they are limited by inadequate perception and object recognition capabilities, particularly in combining touch and visual sensor data for goal-oriented tasks.
Innovation Solution
A robotic apparatus equipped with touch sensors and distance sensors that use Bayesian inference models to build an environmental map, allowing for the fusion of touch and visual data to perform tasks like cleaning by moving and manipulating objects autonomously.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If household robots use only basic sensors (like bumper switches), then device complexity is low, but perception capability and object recognition are insufficient
Solution Approach 1:
The patent combines multiple sensor types (touch sensors, distance sensors, image sensors) into an integrated perception system. The touch sensors detect contact forces and directions, distance sensors measure spatial relationships, and image sensors capture visual information. These sensors are merged into a unified perception framework that enables comprehensive environmental understanding for autonomous cleaning tasks.
Solution Approach 2:
The patent introduces a fusion engine as an intermediary component that processes and integrates data from multiple sensor sources. This fusion engine combines touch sensor data with visual sensor data using Bayesian inference models, acting as a mediator that transforms raw sensor inputs into meaningful environmental representations for autonomous decision-making.
2Extent of automation
If robots use advanced perception systems with multiple sensors, then object recognition improves, but the ability to autonomously perform goal-oriented tasks remains limited
Solution Approach 1:
The patent implements feedback mechanisms where touch sensors provide real-time contact information during object manipulation tasks. The force feedback from touch sensors allows the robot to adjust its manipulation actions dynamically, enabling autonomous completion of tasks such as picking up objects, moving them, and placing them in correct locations without continuous human intervention.
Solution Approach 2:
The robot performs autonomous cleaning tasks by independently navigating the environment, identifying objects and surfaces, making decisions about manipulation actions, and executing tasks without human assistance. The integrated perception system and fusion engine enable the robot to serve itself by autonomously completing goal-oriented cleaning tasks.
3Productivity
If robots rely on remote control or simple pre-programmed sequences, then device complexity is low, but productivity and task completion capability are insufficient
Solution Approach 1:
The patent employs preliminary action by pre-programming cleaning sequences and task protocols that the robot executes autonomously. The robot has pre-defined behaviors for navigating to cleaning targets, manipulating objects, and performing cleaning actions. These pre-programmed sequences are combined with real-time sensor feedback to enable productive autonomous task completion without requiring complex adaptive control systems.
Data Source
AI summary
An apparatus such as a robot capable of performing goal oriented tasks may include one or more touch sensors to receive touch perception feedback on the location of objects and structures within an environment. A fusion engine may be configured to combine touch perception data with other types of sensor data such as data received from an image or distance sensor. The apparatus may combine distance sensor data with touch sensor data using inference models such as Bayesian inference. The touch sensor may be mounted onto an adjustable arm of a robot. The apparatus may use the data it has received from both a touch sensor and distance sensor to build a map of its environment and perform goal oriented tasks such as cleaning or moving objects.