Map optimization method, electronic device, and storage medium
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Solution Overview
Problem
Autonomous mobile devices face inefficiencies due to errors in map creation caused by localization algorithm errors and sensor inaccuracies, leading to erroneous zones and inconsistent wall thicknesses, which affect route planning and operation efficiency.
Innovation Solution
A map optimization method that involves obtaining an original map with explore, covered, and obstacle zones, identifying and deleting error zones by expanding covered zones and searching within explore zones, optimizing wall zones through dilation and smoothing operations, and adjusting explore zones to create an optimized map that better reflects the actual environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile device creates a map using localization algorithms and sensors, then the device can navigate and execute tasks, but localization errors and sensor inaccuracies cause erroneous zones and inconsistent wall thicknesses in the map
Solution Approach 1:
The patent applies preliminary action by performing map optimization processing before the autonomous mobile device executes tasks. The system identifies and deletes error zones, optimizes wall zones through dilation and smoothing operations, and corrects explore zones in advance, ensuring the map is accurate before navigation and task execution begin
Solution Approach 2:
The patent introduces an intermediary optimization process between map creation and task execution. This intermediary step includes error zone deletion, wall zone optimization, and explore zone adjustment that mediates between raw sensor data and the final navigation map, filtering out localization errors and sensor inaccuracies
2Productivity
If the autonomous mobile device uses the created map for route planning and navigation, then task execution can proceed, but errors in the map lead to erroneous adjustments in moving direction and route
Solution Approach 1:
The patent applies preliminary action by completing map optimization before route planning begins. Error zones are deleted, wall zones are optimized with consistent thickness, and explore zones are corrected in advance, ensuring that the route planning process uses an accurate foundation map free from localization and sensor errors
Solution Approach 2:
The patent implements feedback by using the optimized map to improve subsequent navigation and route planning. The map optimization process creates a corrected reference that feeds back into the navigation system, allowing the autonomous mobile device to make accurate moving direction and route adjustments based on reliable map data
Data Source
AI summary
The present disclosure provides a map optimization method, an apparatus, an electronic device and a storage medium. Here, the map optimization method includes: obtaining an original map, the original map including an explore zone, a covered zone, an obstacle zone; determining and deleting an error zone from the explore zone in view of the covered zone and the obstacle zone. According to the technical solution of the present disclosure, in view of points in zones of different properties in the original map, and the localization principle, an error zone is determined and deleted from the original map, thereby realizing the optimization of the original map, such that the optimized map is closer to the actual map. This enables the autonomous mobile device to execute tasks more efficiently based on the optimized map.