juhana leiwo – marco torti. house hospital industry warehouse sports hall airport ...
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Juhana Leiwo – Marco Torti
HouseHospital IndustryWarehouseSports HallAirportRestaurantCondominium
SMS sending for important tasks execution and emergencies.
Multilevel map is the priority
1. An operating environment(a room in an apartment)
2. A high-level map of the fixedelements in the environment(the walls and doorways)
3. A mid-level map of the somewhat fixed elements in the environment(furniture etc.)
4. The most often changing elements are stored in yet another mapping level. (Suitcase on the floor, glasses, books, etc.)
Position and movementDirection of acceleration (gravity)Proximity and collision sensing3-dimensional spatial mappingCamera visionHeat detection (to recognize
humans, for example)Sound sensing (for voice commands
and human activity sensing)
The price of the robot is critical because the mapping feature is important in houses too
For a multifunctional robot it could be useful to determine a number of basic senses and optional special senses (and so features)
Multiflow data fusion with Kalman filter (or similar)
The robot starts making its own maps automatically when it gets installed in a new environment. It doesn't need preprogrammed maps
The map gets continuously updated when the robot makes new measurements while operating
The mapping data is stored in different "layers" based on whether the measured area has changed. There are four different layers:
1.the high-level map, which contains the unchanging features of the environment
2.the medium-level map, which contains things that have changed but still exist
3.the change map, which describes how often different areas have changed
4.the updating layer, which contains the results of the newest scan.
The whole highest layer is used as a landmark when calculating location. Since the robot operates in the same environment, the map becomes more reliable over time as it is updated. A full scan is not always necessary for locating. Smaller point scans can be used instead
The data in the medium-level map and the change map can be used for route planning and optimizing tasks like seeking an object from a room
Gripping claws
Camera on rotating mount
Manipulator arm
Telescopic walking arms2 DOF joints
Part details
IR proximity sensorsunder the infrared
transparent covering
Very complex but able to join all the
strengths of the several
designs
ACTIVE CURB FEELER (WISKERS)
SYNCRO
FORCE SENSORS
LASER RANGE CAMERA (PSM) or STRUCTURED LIGHT
TIME OF FLIGHT WITH LASER
ACCELERATION SENSOR
INFRARED CAMERA
THERMOGRAPHIC CAMERA
Stability – At least 2 legs attackedWiskers – Hurt preventionVocal keyword & Emergency button
– To stop the robotMax weightLiving & objects
Scan
Move and track with blind senses
Scan again
Match scans
Update location
Average old and new maps
Update high-level map
Find points that would have been visiblein both maps but only exist in one of them
Update medium-level map
Update change frequency map
imultaneous
ocation
nd
ayered
ptimized
apping
The main alimentation of the robot will be inside the gripping hooks
The robot will also need a little battery inside (few minutes autonomy) to move where the alimentation is not available
The project is very interesting and may have a use in a lot of environments
The selection of the sensors is the critical part to obtain a good quality/price ratio
The development of the mapping algorithm could be long and hard but probably will be one of the reasons that could determine the success of this product
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