Method for expanding working area based on laser map, chip and robot
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Solution Overview
Problem
Existing robot navigation systems face challenges in efficiently expanding indoor working areas without dividing large free spaces into small areas, leading to reduced efficiency and difficulty in navigating along the edge of the framed contour boundary.
Innovation Solution
A method that sets pending boundary lines on a laser map, selects and deletes them based on expansion priority, and adjusts the working area by calculating diagonal lengths to prevent over-dividing, allowing for efficient expansion and framing of a new rectangular working area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses closed areas surrounded by walls to define indoor working areas, then the working area boundaries are clearly defined, but large free spaces are divided into multiple small areas reducing navigation efficiency
Solution Approach 1:
The patent divides the large indoor working area into multiple small rectangular sub-areas using virtual boundary lines. This segmentation allows the robot to systematically navigate through each sub-area sequentially, preventing the need to traverse the entire large area repeatedly while maintaining clear boundary definitions for each sub-area.
Solution Approach 2:
The patent dynamically adjusts the working area by expanding from an initial small rectangular area to larger areas as the robot accumulates laser map data. The boundary lines are dynamically added or removed based on the robot's current position and mapping progress, allowing the system to adapt the working area size to match the robot's capabilities and data availability.
2Area of stationary object
If the robot expands the working area to cover large spaces, then the coverage area increases, but it becomes difficult to control the robot to walk along the edge to search for target positions
Solution Approach 1:
By segmenting the large working area into smaller rectangular sub-areas with clearly defined boundaries, the robot can easily navigate along the edges of each sub-area. The boundary lines serve as natural navigation paths, making it simple for the robot to walk along edges and search for target positions within each segment before moving to the next segment.
Solution Approach 2:
The patent introduces a virtual boundary line dimension that overlays the physical space, creating a two-layer navigation system. The boundary lines provide an additional dimensional reference that guides the robot's movement along edges, transforming the complex problem of navigating large open spaces into a structured path-following task along predefined virtual boundaries.
3Manufacturing precision
If multiple boundary lines are set to frame rectangular working areas, then the working area can be precisely controlled, but the system complexity increases
Solution Approach 1:
The boundary line system is designed to be dynamic rather than static. Boundary lines are automatically added, removed, or modified based on the robot's current position, laser map data, and navigation needs. This dynamic management reduces the number of boundary lines that need to be actively managed at any given time, simplifying the overall system complexity while maintaining precise working area framing.
Solution Approach 2:
The system uses the robot's own laser mapping capabilities and current position information to automatically generate and manage boundary lines. The boundary lines are derived from the laser map data itself, eliminating the need for external manual configuration. The system self-adjusts the boundary line configuration based on the accumulated map data, reducing operational complexity.
Data Source
AI summary
The present disclosure provides a method for expanding a working area based on a laser map, a chip and a robot, and the method for expanding the working area includes using map pixel point information obtained by laser scanning to position pending boundary lines, deciding a next expansion of a rectangular working area according to an increment of a diagonal length of the rectangular working area framed by the pending boundary lines in a current expansion process, stopping expanding the rectangular working area of the robot when the increment of the diagonal length before expanding and after expanding reaches an overlap condition.