Robotic Vacuum Optical Odometry to Reduce Wheel Slip Navigation Error
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Solution Overview
Problem
Prior art robotic vacuum cleaners are sensitive to wheel slip, leading to erroneous navigation due to incorrect distance determination by wheel encoders on glossy surfaces or rugs, affecting the accuracy of 3D representations of the surroundings.
Innovation Solution
Employing an optical odometry sensor directed towards the surface to measure position and heading, using a camera and line lasers to illuminate objects, creating a 3D representation of the environment for navigation, thereby mitigating the effects of wheel slip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wheel encoders are used to determine travelled distance, then navigation can be implemented, but measurement precision deteriorates due to wheel slip on glossy surfaces or rugs
Solution Approach 1:
The patent replaces the mechanical wheel encoder system with an optical sensor system. The optical sensor detects features on the floor surface and uses computer vision algorithms to calculate the robot's position and orientation, eliminating the mechanical contact that causes wheel slip on glossy surfaces or rugs.
Solution Approach 2:
The patent introduces an intermediary optical sensor system that mediates between the robot's movement and the navigation system. Instead of directly measuring wheel rotations, the system uses optical features on the floor as an intermediary reference frame to accurately determine travelled distance and position.
2Measurement precision
If optical sensor is used to measure position, then measurement precision improves, but device complexity increases due to additional sensors and processing
Solution Approach 1:
The patent makes the optical sensor system multi-functional. The same camera and optical sensor hardware used for navigation and obstacle detection are also employed for creating 3D representations of the environment, eliminating the need for separate sensors and reducing overall system complexity.
Solution Approach 2:
The patent merges the navigation function with the obstacle detection and 3D mapping functions. By using the optical sensor and camera system for multiple purposes simultaneously, the patent reduces device complexity while maintaining high measurement precision for position determination.
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 optical sensor accurately measures position and heading, ensuring precise navigation even on surfaces that cause wheel slip, without the need for wheel encoders, thus maintaining accurate 3D mapping and obstacle detection.
Implementation Method 1
an optical odometry sensor arranged to be directed towards the surface and configured to measure position of the robotic cleaning device
Implementation Method 2
a camera configured to capture images of surroundings of the robotic cleaning device
Implementation Method 3
at least one light source configured to illuminate objects in front of the camera
Data Source
AI summary
A robotic cleaning device configured to navigate over a surface to be cleaned including a propulsion system configured to move the robotic cleaning device over the surface to be cleaned, a camera, at least one light source, an optical odometry sensor arranged to be directed towards the surface and configured to measure position of the robotic cleaning device, a heading sensor configured to measure heading of the robotic cleaning device, and a controller configured to detect a luminous section in each captured image caused by the at least one light source illuminating an object, the luminous section representing detected object data, determine location of the detected object data in each captured image with respect to a reference position using the measured position and heading of the robotic cleaning device, and to create a 3D representation of the illuminated object.