UWB Robot Boundary Localization With Camera and IMU Fusion
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Solution Overview
Problem
Autonomous service robots, such as lawn mowers, face challenges in safely navigating and mapping service areas due to limitations in existing boundary detection methods, which can lead to damage or inefficiency.
Innovation Solution
A system and method utilizing ultra-wideband (UWB) ranging measurements, image data, and inertial measurement unit (IMU) data to determine and adjust the trajectory of a handheld device within a service area, identifying the adjusted trajectory as the boundary of the service area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simple bump-and-turn controls are used, then device complexity is reduced, but reliability deteriorates due to potential damage to property and robot
Solution Approach 1:
The patent replaces mechanical bump sensors with optical cameras and RF-based localization systems to detect boundaries and navigate, eliminating the need for physical contact with obstacles while maintaining safety
Solution Approach 2:
The patent introduces boundary wires as intermediary elements that emit RF signals, allowing the robot to detect boundaries wirelessly without physical contact, thus preventing damage while maintaining simple navigation logic
2Reliability
If additional sensors and infrastructure are added, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent makes the boundary wire infrastructure multi-functional by using the same RF-emitting wires for both boundary detection and localization, reducing the need for separate sensor systems while maintaining high reliability
Solution Approach 2:
The robot uses its own RF transceiver to communicate with boundary wires, allowing the system to self-configure and adapt to different environments without requiring complex pre-programming or manual setup
3Measurement precision
If RF-based localization with multiple data sources is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent merges RF ranging data, image data from cameras, and IMU data into a single integrated localization system, using sensor fusion algorithms to achieve high measurement precision while managing complexity through unified processing
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
This approach enables precise and efficient boundary definition for service robots, improving safety and coverage by integrating multiple data sources for accurate localization and path planning.
Implementation Method 1
obtaining ultra-wideband (UWB) ranging measurements between the handheld device and multiple anchors located in the service area
Data Source
AI summary
A method includes, when a handheld device is in motion within a service area to be traversed by a robot: obtaining ultra-wideband (UWB) ranging measurements between the handheld device and multiple anchors located in the service area; and obtaining image data and inertial measurement unit (IMU) data. The method also includes determining a trajectory of motion of the handheld device based on the UWB ranging measurements. The method also includes adjusting the trajectory based on image features obtained from the image data and motion estimates obtained from the IMU data. The method also includes identifying the adjusted trajectory as a boundary of the service area.