Robot Coverage Area Division via Morphological Map Processing
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Solution Overview
Problem
Conventional methods for dividing a coverage area for robots are inefficient due to the creation of unnecessary segments caused by uneven obstacle outlines and sensor errors, leading to inaccuracies in grid map production and robot navigation.
Innovation Solution
A method involving the creation of a configuration space map with probabilistically distributed grid points, increased obstacle and wall thickness based on robot size, and division using a band-typed slice to reduce noise cells and combine segments effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a sweep line method is used to divide the area, then the area can be divided into segments, but unnecessary critical points are created due to uneven obstacle outlines, leading to excessive segmentation
Solution Approach 1:
The patent applies morphological operations (erosion and dilation) to the grid map before performing area division. By preprocessing the map to smooth obstacle outlines and remove noise cells, the subsequent sweep line operation encounters fewer unnecessary critical points, resulting in fewer segments and improved division efficiency
Solution Approach 2:
The patent divides the area division process into distinct stages: grid map generation, morphological processing (erosion/dilation), noise cell removal, and final area division. This segmented approach allows each stage to optimize specific aspects, preventing excessive segmentation in the final result
2Ease of operation
If the grid map is produced by sensor measurement, then the robot can navigate, but sensor errors and variable robot positions create inaccuracies in the grid map
Solution Approach 1:
The patent applies erosion operation to the grid map before area division, which shrinks obstacle regions and creates a buffer zone. This preprocessing step compensates for sensor errors and position variations by ensuring that the robot's path planning operates on a more conservative, accurate representation of free space
Solution Approach 2:
The patent uses dilation operation after erosion to restore the original map structure while maintaining the benefits of error correction. This feedback mechanism refines the grid map by comparing the eroded version with the original and adjusting accordingly, improving overall map accuracy
3Manufacturing precision
If conventional smoothing methods are applied to the grid map, then the outline can be improved, but the method has limits due to robot position variability and sensor tolerances
Solution Approach 1:
The patent replaces conventional geometric smoothing methods with morphological operations from mathematical morphology. These operations (erosion, dilation, opening, closing) provide more robust and reliable smoothing that is less sensitive to robot position variability and sensor tolerances, improving both smoothness and reliability
Data Source
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AI summary
A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.