Robotic Workspace Mapping with Mobile Sensing and Safe Path Planning
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Solution Overview
Problem
Existing robotic workspace mapping techniques are expensive, time-consuming, and limited by sensor obstructions and bandwidth issues, making it difficult to accurately and safely map dynamic workspaces with changing configurations.
Innovation Solution
A framework using an articulated manipulator with a movable sensor at the end effector to capture workspace data, combined with pyramidal compression for efficient communication, enables safe and efficient mapping by minimizing sensor movement through cleared areas and optimizing data transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fixed sensors with limited fields of view are used for workspace mapping, then sensor calibration is simplified, but the sensors are obstructed by objects entering the workspace and cannot capture full workspace configurations
Solution Approach 1:
The patent applies the dynamics principle by transitioning from fixed sensors to a mobile robotic device with a movable sensor platform. The robotic device can dynamically reposition itself within the workspace to capture different views and configurations, adapting to changing workspace conditions while maintaining mapping accuracy through controlled movement and coordinated sensing.
2Measurement precision
If comprehensive workspace sensing is implemented to capture all configurations, then mapping accuracy improves, but communication bandwidth requirements increase and scalability is limited
Solution Approach 1:
The patent applies the extraction principle by selectively capturing and transmitting only the essential features and changes in workspace configuration rather than transmitting complete sensor data sets. The system extracts key spatial relationships and obstacle positions, reducing data volume while maintaining mapping accuracy and enabling scalable deployment.
3Measurement precision
If robotic device moves through workspace to capture all areas, then complete mapping is achieved, but collision risk with obstacles increases
Solution Approach 1:
The patent applies the preliminary action principle by performing preliminary sensing and mapping operations to identify safe pathways and obstacle locations before the robotic device moves through the workspace. The system预先 captures environmental information and uses it to plan collision-free trajectories, ensuring complete workspace coverage while maintaining safety.
4Ease of manufacture
If traditional workspace mapping methods are used, then static workspaces can be mapped, but dynamic scenarios with changing configurations are challenging and time-consuming
Solution Approach 1:
The patent applies the feedback principle by implementing continuous sensing and real-time map updating mechanisms. The robotic device continuously monitors workspace configurations, detects changes in obstacle positions or new objects, and dynamically updates the workspace map accordingly. This feedback loop enables the system to handle dynamic scenarios efficiently while maintaining mapping simplicity through automated processes.
Data Source
AI summary
System and techniques to map a workspace for a robotic device are described herein. The robotic device has a movable portion with a sensor that is used to capture readings from part of the workspace. These readings are used to map a portion of the workspace and then to plot a new position of the movable portion to get readings for another part of the workspace. As the technique iterates, the robotic device is able to safely and efficiently map the entirety of the workspace.