Method for Establishing Map Traversal Blocks of Global Grid Map, Chip, and Mobile Robot
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Solution Overview
Problem
The increasing demand for efficient cleaning in large-scale indoor environments by cleaning robots leads to a significant increase in grid information collection requirements, reducing their navigation efficiency due to the complexity of global grid maps.
Innovation Solution
A method for establishing map traversal blocks in a global grid map by setting side lengths, calculating coverage numbers, and determining mapping coordinates to divide the map into regularly distributed blocks, reducing the computational load and storage needs for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot collects grid information in large-scale indoor environments to improve cleaning coverage, then the cleaning efficiency is improved, but the software resource consumption increases and navigation efficiency decreases
Solution Approach 1:
The patent divides the global grid map into multiple map traversal blocks through systematic segmentation. Each block covers a specific region with defined side lengths and coverage numbers calculated based on the global map dimensions. This segmentation allows the robot to process and navigate smaller block regions rather than managing the entire large-scale map simultaneously, reducing software resource consumption while maintaining comprehensive cleaning coverage across the entire environment.
2Measurement precision
If the robot uses a complete global grid map for navigation to ensure accurate path planning, then the navigation accuracy is improved, but the data processing speed decreases
Solution Approach 1:
The patent segments the global grid map into multiple map traversal blocks that can be processed independently. Each block contains relevant grid information for its specific region, allowing the robot to perform rapid local path planning within blocks while maintaining awareness of the global map structure. This segmentation enables faster data processing by avoiding the need to process the entire global map for every navigation decision, while still ensuring accurate path planning through coordinated block-level operations.
Solution Approach 2:
The patent introduces a hierarchical dimension to navigation by operating at both the global map level and the local block level. The robot first determines which map traversal block to enter based on global position and destination information, then performs detailed path planning within that specific block. This two-level hierarchical approach separates global navigation strategy from local path execution, enabling efficient processing by limiting detailed computations to small block regions rather than the entire global map.
Data Source
AI summary
A method for establishing map traversal blocks of a global grid map, a chip, and a mobile robot. The method for establishing the map traversal blocks includes: step 1, setting side lengths of the map traversal blocks according to a size of the global grid map; step 2, calculating a coverage number of map traversal blocks in each of a global coordinate axis direction of the global grid map in combination with a ratio relationship between the size of the global grid map and the side lengths of the map traversal blocks determined in step 1; step 3, according to a constraint effect of the coverage number of the map traversal blocks determined in step 2, performing a row-by-row and column-by-column accumulated operation on the side lengths of the map traversal blocks determined in step 1 to calculate mapping coordinates of each of a map traversal block.