Room Map Generation for Floor Cleaning Robots
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Solution Overview
Problem
Existing methods for generating maps of rooms for floor processing devices, such as cleaning robots, are difficult for users to read as they represent obstacles from the device's perspective, rather than the user's perspective, making it hard to identify and select areas to be processed or avoided.
Innovation Solution
A method to generate and display a two-dimensional map with coded, particularly color-coded, height information, allowing users to recognize actual room situations and select sub-regions easily, using three-dimensional coordinates and a combination of laser distance sensors and cameras to determine obstacle heights and positions independently of the device's perspective.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a map is generated from the processing device's perspective using standard obstacle detection methods, then the map contains accurate position data of obstacles, but the map is difficult for users to read and interpret
Solution Approach 1:
The patent applies dimensionality change by incorporating height information (third dimension) into the map representation. Obstacles are classified into different height categories (e.g., low obstacles, medium obstacles, high obstacles) and represented with corresponding visual indicators. This allows users to understand the actual spatial relationship and scale of obstacles relative to the processing device, making the map much more intuitive and easier to interpret while maintaining accurate position data.
2Manufacturing precision
If a detailed three-dimensional map is generated to show actual obstacle dimensions, then the map accuracy is improved, but the map complexity increases making it harder for users to navigate
Solution Approach 1:
The patent applies local quality by differentiating the representation of obstacles based on their local characteristics, particularly height. Different obstacle types (e.g., table legs vs. entire tables, low barriers vs. high obstacles) are represented with different visual symbols, colors, or icons. This selective differentiation provides users with just enough detail to understand the spatial relationships without overwhelming them with excessive information, thus maintaining map accuracy while controlling complexity.
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 solution enables users to navigate and interact with the processing device more effectively by providing a clear, user-friendly representation of the room's layout, allowing quick and reliable selection of processing areas and avoiding obstacles, improving the usability of the map for both the device and the user.
Implementation Method 1
The obstacle detection is based on an optical triangulation method, which measures distances to obstacles.
Implementation Method 2
generate maps of pictures, which are assembled in a mosaic-like manner, which were taken with a camera arranged on the cleaning device
Data Source
AI summary
A method for processing, in particular cleaning, a floor of a room using an automatically movable processing device. A map of the room is generated and displayed to a user of the processing device, and the user can select at least one room sub-region in which the processing device is to process or refrain from processing the floor in the generated map. The aim of the invention is to provide a method for processing a floor, wherein the generated map of the room is easier to read for the user. This is achieved in that the map of the room is generated from three-dimensional coordinates of a world coordinate system, each point of a plurality of points of the room and/or of an obstacle arranged in the room being assigned to a three-dimensional coordinate within the world coordinates system.