Robotic Workspace Mapping Using Boustrophedon Path and Depth Sensing

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Solution Overview

Problem

Existing mapping techniques for autonomous or semi-autonomous robotic devices are computationally expensive, require substantial processing power and memory, and are often limited by data association issues and sensor sensitivity to lighting and reflective objects, while less costly methods lack detail or require additional equipment.

Innovation Solution

A method involving a robotic device that maps an environment using a camera to construct a map while performing work, employing a boustrophedon movement pattern and overlapping fields of view to identify and combine depth measurements, minimizing processing power and equipment requirements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If Simultaneous Localization and Mapping (SLAM) techniques are used to construct a map, then mapping accuracy and detail are improved, but computational cost and processing power requirements increase substantially

Engineering Contradiction:

Improvemapping accuracyVSAvoidcomputational power

Core Design Contradiction:

Measurement precisionVSPower

Solution Approach 1:

The patent extracts and uses only the essential depth information from the environment that is necessary for navigation and task performance, rather than processing all visual features. This selective extraction of critical spatial data reduces computational complexity while maintaining sufficient mapping accuracy for autonomous operation.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

Instead of using complex SLAM algorithms to build detailed maps first and then navigating, the patent inverts the approach by using simple depth-based obstacle detection and navigation decisions made in real-time, constructing functional maps implicitly through navigation actions rather than explicit pre-mapping.

Inventive Principle:

Principle #13The other way round (Inversion)

2Adaptability or versatility

If Virtual SLAM (VSLAM) with image processing techniques is used, then map construction capability is improved, but device complexity and cost increase due to requiring powerful CPU or dedicated MCU

Engineering Contradiction:

Improvemap construction capabilityVSAvoidprocessing unit complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent replaces complex mechanical/image processing systems with a simpler depth-sensing approach. By using depth measurements directly from the sensor rather than processing images through complex algorithms, the system achieves map construction capability with less computationally intensive hardware.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent uses inexpensive depth sensors that provide sufficient information for navigation without requiring expensive powerful processors or dedicated MCUs. The system accepts limited processing capability in exchange for using cheaper sensor and computational resources.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

3Measurement precision

If SLAM techniques with large complete state vectors and error covariance matrices are used, then positioning accuracy is improved, but memory requirements and data storage needs increase substantially

Engineering Contradiction:

Improvepositioning accuracyVSAvoidmemory storage

Core Design Contradiction:

Measurement precisionVSQuantity of substance

Solution Approach 1:

The patent extracts only the essential positioning information needed for navigation from the environment, storing minimal depth and distance data rather than maintaining large complete state vectors and error covariance matrices. This selective storage of critical spatial parameters reduces memory requirements while preserving sufficient positioning accuracy.

Inventive Principle:

Principle #2Taking out (Extraction)

4Productivity

If Laser Distance Sensors (LDS) are used for high rate data collection, then mapping speed is improved, but sensor reliability decreases due to sensitivity to lighting and transparent and reflective objects

Engineering Contradiction:

Improvemapping speedVSAvoidsensor reliability

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The patent changes the operational parameters of the depth sensor by adjusting measurement rates and thresholds based on environmental conditions. This allows the system to maintain high mapping speed while compensating for sensor reliability issues through adaptive parameter adjustment rather than relying on consistent high-speed operation.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12535325B2Method for constructing a map while performing work

Publication Date: 2026.01.27 AI INC

AI summary

A method executed by a robot, including: starting, from a starting position, a work session in which the robot maps a workspace, wherein a front of the robot faces towards a forward direction in a frame of reference of the robot; the robot traversing, from the starting position, to a first position, a first distance from the starting position in a backward direction in the frame of reference of the robot; after traversing the first distance, the robot rotating; after rotating, the robot traversing a coverage path of at least one area of the workspace, the coverage path including a boustrophedon movement pattern; and the robot cleaning the at least one area of the workspace with a cleaning tool of the robot while traversing the coverage path.