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