Moving Robot Node-Based Map Generation for Simultaneous Cleaning
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Solution Overview
Problem
Existing moving robots face challenges in accurately generating topological maps due to inaccurate connection relationships between nodes, difficulty in distinguishing dynamic and fixed obstacles, and prolonged map generation times, especially in large areas, which hinder efficient performance of desired functions.
Innovation Solution
The moving robot utilizes a lidar sensor to determine open movement directions, generate new nodes in real time, and update node data while traveling, minimizing obstacle avoidance operations and ensuring accurate node information, allowing simultaneous performance of functions like cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the moving robot generates a map by acquiring distance information while moving and then generates a topological map by setting nodes through pixel processing, then the map generation can be completed, but the connecting relationship between nodes becomes inaccurate
Solution Approach 1:
The patent segments the map generation process into two distinct phases: first generating an initial map through pixel processing, then generating a topological map by setting nodes based on that initial map. This segmentation allows each phase to focus on specific tasks, improving overall accuracy. The initial map captures detailed spatial information, which is then used to accurately determine node positions and connections in the topological map, resolving the issue of inaccurate node connections.
Solution Approach 2:
The patent performs preliminary action by first generating an initial map through pixel processing before generating the topological map. This preliminary initial map serves as a foundation that preserves spatial relationship information, which is then used to accurately set nodes and their connections in the subsequent topological map generation. The preliminary action ensures that spatial information is not lost during the transition from detailed mapping to topological representation.
2Measurement precision
If the moving robot acquires distance information to generate a map, then the map can be created, but it becomes difficult to accurately distinguish and process dynamic obstacles and fixed obstacles
Solution Approach 1:
The patent applies dynamics by enabling the robot to move and acquire distance information continuously while generating the map. This dynamic approach allows the robot to capture the spatial relationships between obstacles and navigation paths in real-time, improving the accuracy of obstacle classification. By moving through the environment and collecting data from multiple positions, the system can better distinguish between dynamic and fixed obstacles without requiring overly complex stationary detection systems.
3Productivity
If the moving robot completes map generation before performing desired functions, then the map is available for use, but the time required for generating the map becomes longer in wide areas
Solution Approach 1:
The patent performs preliminary action by generating the initial map through pixel processing before finalizing the topological map. This allows the robot to have a usable map structure in place earlier, enabling it to begin performing desired functions while the topological map is being refined. The preliminary initial map provides sufficient information for basic navigation and function execution, reducing the overall time loss.
Solution Approach 2:
The patent applies partial action by generating a topological map with essential node connections based on the initial map, rather than completing every detail of the full map generation process. This partial topological map provides enough information for the robot to perform desired functions efficiently, without requiring the complete and time-consuming generation of all map details. The robot can function with this partial map structure, reducing the time delay.
4Manufacturing precision
If the moving robot generates a topological map by setting nodes based on the generated initial map, then the topological map can be created, but the connecting relationship between all nodes becomes somewhat inaccurate
Solution Approach 1:
The patent segments the map generation into two phases: initial map generation through pixel processing, followed by topological map generation with node setting. This segmentation improves node connection accuracy by using the detailed initial map as a reference. The process maintains reasonable simplicity by automating the node setting based on the existing initial map structure, balancing accuracy with ease of implementation.
Solution Approach 2:
The patent uses feedback by utilizing the generated initial map as input for creating the topological map. The initial map provides feedback information about spatial relationships that guides the accurate placement and connection of nodes in the topological map. This feedback loop ensures that node connections accurately reflect the actual spatial relationships in the environment, improving precision without significantly complicating the process.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables accurate setting of node connections and stable travel paths, reduces obstacle avoidance operations, and allows the robot to perform desired functions like cleaning efficiently during map generation.
Implementation Method 1
a lidar sensor that acquires outside terrain information
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2
AI summary
A moving robot including: a lidar sensor to acquire terrain information; a memory to store node data nodes; and a controller to determine whether at least one open movement direction exists based on sensing data of the lidar sensor and the node data, to generate a new node in the node data and add the generated node to a node group, to determine any of the open movement directions as a movement direction, to control the robot to travels an area corresponding to the node group, to control a suction unit to suck foreign matter around the main body when traveling in the node group, to initialize the node group, to determine whether at least one node is to be updated, moving the robot to any one of the nodes to be updated, and to complete generation of a map.