Robotic Vacuum 3D Landmark Recognition for Autonomous Navigation
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Solution Overview
Problem
Existing robotic vacuum cleaners face challenges in navigating and mapping environments effectively due to reliance on 2D signatures, which can lead to disorientation and require expensive additional sensors and user effort for setup.
Innovation Solution
A robotic cleaning device equipped with a 3D sensor system, including a camera and vertical line lasers, generates and compares landmark signatures to navigate and map environments, allowing for autonomous operation and efficient learning of new or known spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If 2D signature scanning is used for environment mapping, then the device complexity is reduced, but the robot may get lost or disoriented due to insufficient positional information
Solution Approach 1:
The patent transitions from 2D horizontal scanning to 3D environment mapping by introducing vertical line lasers that scan both horizontally and vertically. This creates three-dimensional signatures incorporating height information, enabling more reliable positioning and landmark recognition without requiring additional expensive sensors.
2Measurement precision
If ceiling base marks are used for landmark recognition, then positioning accuracy is improved, but the ease of operation deteriorates due to user setup effort
Solution Approach 1:
The robotic cleaning device autonomously identifies and uses existing vertical landmarks in the environment without requiring user setup. The system scans the environment, detects vertical features automatically, and uses them for navigation and positioning, eliminating the need for users to install ceiling marks or perform any setup procedures.
3Measurement precision
If multiple cameras and line lasers are used for landmark recognition, then positioning accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent uses a single camera device that performs multiple functions: detecting vertical line laser patterns, identifying landmarks, and creating 3D signatures. The vertical line lasers serve both as illumination sources and as reference markers for the camera, eliminating the need for separate dedicated sensors for each function.
4Reliability
If traditional sensors are used for navigation, then the reliability is improved, but the cost increases due to expensive additional sensors
Solution Approach 1:
The patent combines obstacle detection and landmark recognition functions into a single integrated system. The camera device that detects obstacles also captures vertical line laser patterns for creating 3D signatures, while the vertical line lasers serve both illumination and positioning reference purposes, reducing the need for separate expensive sensor systems.
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
The device can accurately position itself and build a map of the environment quickly, distinguishing between fixed and movable obstacles, reducing positional uncertainty and user setup effort while enhancing cleaning efficiency.
Implementation Method 1
obstacle detecting device configured to detect obstacles and position of the obstacles relative to a cleaning device
Implementation Method 2
recording obstacle detecting device output data of a vicinity of a robotic cleaning device with an obstacle detecting device
Implementation Method 3
The obstacle detecting device may be embodied in the form of a 3D sensor system comprising a camera device which allows to record images
Implementation Method 4
A robotic cleaning device equipped with a 3D sensor system, including a camera and vertical line lasers
Data Source
AI summary
A robotic cleaning device having a main body, a propulsion system configured to move the device across a surface and an obstacle detecting device configured to detect obstacles. The device further includes a processing unit configured to position the robotic cleaning device with respect to the detected obstacles from obstacle detecting device output data, and further to control the propulsion system to move the robotic cleaning device across the surface. The processing unit is configured to identify a landmark and its position from the obstacle detecting device output data, to derive at least one characteristic from the landmark to create and store a generated landmark signature. The processing unit is also configured to compare the generated landmark signature with predetermined landmark signatures and to determine whether the generated landmark signature matches one of the predetermined landmark signatures or not and operate the robotic cleaning device based on the determination.