Robot Navigation Map Updating Using Keyframe Overlay

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Solution Overview

Problem

Existing navigation systems for robots localized using lidar face reliability and accuracy issues due to changes in the environment, leading to navigation failures and potential accidents, as they require manual recreation of navigation maps, which is time-consuming and labor-intensive.

Innovation Solution

A method and apparatus for updating navigation maps by controlling the robot to move along a designated path, recording key frame data, and creating a new navigation map by copying and updating information from an original map, eliminating the need for manual recreation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If manual recreation of navigation map is performed, then navigation map accuracy is restored, but time consumption and labor requirements increase significantly

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidmap recreation time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent uses copying by creating a new navigation map through data fusion from multiple sources (original map, current sensor data, keyframe data) rather than manual recreation. The system copies and integrates relevant information from different data sources to generate an updated navigation map automatically, eliminating the need for time-consuming manual map recreation while maintaining accuracy.

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent implements self-service by enabling the robot to automatically update its own navigation map using its onboard sensors and processing capabilities. The robot performs self-localization, collects current environmental data, fuses it with existing map information, and generates updated maps without human intervention, thus restoring navigation reliability without requiring external manual efforts.

Inventive Principle:

Principle #25Self-service

2Productivity

If navigation map is not updated, then time and labor are saved, but navigation accuracy and stability deteriorate

Engineering Contradiction:

Improvenavigation efficiencyVSAvoidlocalization accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent applies dynamics by implementing a dynamic navigation map updating mechanism that automatically adapts to environmental changes. The system continuously evaluates whether updates are needed based on detected changes in the environment, and performs selective updates rather than continuous full recreations. This dynamic approach maintains localization accuracy while optimizing navigation efficiency by avoiding unnecessary update operations.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent uses feedback by implementing a feedback loop that monitors environmental changes and navigation performance. The system detects changes in the environment, evaluates their impact on navigation accuracy, and triggers map updates only when necessary. This feedback mechanism ensures localization accuracy is maintained while preventing unnecessary updates that would reduce navigation efficiency.

Inventive Principle:

Principle #23Feedback

3Reliability

If complete navigation map recreation is performed, then map accuracy is restored, but system complexity and operational disruption increase

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidmap updating complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent applies segmentation by dividing the navigation map into multiple regions or segments. Instead of recreating the entire map, the system identifies and updates only the affected segments where environmental changes have occurred. This segmentation approach reduces the complexity of map updating operations while maintaining navigation reliability in the updated regions, and preserves the validity of unchanged regions.

Inventive Principle:

Principle #1Segmentation

4Measurement precision

If frequent map updates are performed, then navigation accuracy is maintained, but computational resources and processing time increase

Engineering Contradiction:

Improvelocalization accuracyVSAvoidcomputational energy consumption

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The patent implements periodic action by establishing a periodic or event-triggered map updating schedule. Instead of continuous updates, the system performs map updates at predetermined intervals or when specific change thresholds are reached. This periodic approach maintains localization accuracy by ensuring regular map refreshes while significantly reducing computational energy consumption compared to continuous update mechanisms.

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS11629964B2Navigation map updating method and apparatus and robot using the same

Publication Date: 2023.04.18 UBTECH ROBOTICS CORP LTD

AI summary

The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.