Robot Charger Docking Localization Using Two-Stage Scan Matching
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Solution Overview
Problem
Current robot navigation systems face challenges in efficiently and precisely localizing and controlling robots during the docking process with charging stations, particularly due to the high processing requirements and coarse localization, which can lead to misalignment and inefficiencies in charging.
Innovation Solution
The method involves using a two-stage navigation approach with scan matching, where the robot first navigates to an initial pose using a lower resolution map and then to a mating pose using a higher resolution map, specifically designed for the charging station, utilizing laser-radar scans for precise localization and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a high resolution map is used for scan matching during robot navigation to charging station, then localization precision is improved, but computational processing time and complexity increase
Solution Approach 1:
The navigation process is divided into two distinct stages: a first navigation stage using a first map with first resolution, and a second navigation stage using a second map with second resolution. This segmentation allows the system to use lower resolution maps for most of the journey, reducing computational load, while switching to higher resolution maps only when needed for precise docking.
Solution Approach 2:
The map resolution is dynamically adjusted based on the robot's proximity to the charging station. The system transitions from using a lower resolution first map during initial navigation to using a higher resolution second map during the final approach and docking phase. This dynamic adaptation optimizes the balance between localization precision and computational efficiency.
2Manufacturing precision
If a high resolution map is used for scan matching during robot docking, then docking alignment precision is improved, but computational complexity increases
Solution Approach 1:
The docking process is segmented into an initial approach phase using the first map and a precision alignment phase using the second map. This segmentation ensures that computationally intensive high-resolution processing is only applied during the critical alignment phase, rather than throughout the entire navigation process.
Solution Approach 2:
The system applies different map resolutions to different spatial regions of the navigation task. The first map covers the broader warehouse area with lower resolution, while the second map provides high-resolution details only in the local region around the charging station where precise docking is required.
3Measurement precision
If the robot navigates directly to mating pose using high resolution map, then docking accuracy is improved, but computational processing requirements increase
Solution Approach 1:
The navigation task is segmented into two sequential processes: first navigation from current pose to initial pose using the first map, and second navigation from initial pose to mating pose using the second map. This segmentation reduces the overall computational burden by distributing processing requirements across two stages with different resolution demands.
Solution Approach 2:
The first navigation process performs a preliminary approach to bring the robot into proximity with the charging station at the initial pose. This preliminary action reduces the distance that requires high-precision navigation, allowing the computationally intensive second navigation to cover a shorter distance with higher accuracy.
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 precise and efficient docking of robots with charging stations, reducing computational complexity and ensuring accurate alignment for reliable charging, thereby improving the operational efficiency of robots in warehouse environments.
Implementation Method 1
a laser-radar scanner 22
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
A method, system, and wheeled base for navigating a robot for docking with a charger docking station (500). The robot (18) receives an initial pose (604) associated with a robot charger docking station (500) and a mating pose (602) associated with the robot charger docking station (500). The robot (18) first navigates from a location to an initial pose (604) using scan matching to a first map. The robot performs a second navigation (742) from the initial pose (604) to the mating pose (602) using scan matching to a second map, thereby causing an electrical charging port of the robot to mate with an electrical charging assembly of the robot charger docking station (500). Localization during charger docking may use a higher resolution map than when navigating to the docking station. Localizing against the robot charger docking station may be performed on a higher resolution map of the docking station alone.