Mobile Robot Map Partition Updates for Newly Appeared Areas
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Solution Overview
Problem
Cleaning robots face reduced efficiency due to changes in the environment that result in newly appeared areas not accounted for in existing partitioned maps, necessitating accurate area partitioning.
Innovation Solution
A method for area dividing in a map for a mobile robot involves determining undivided areas based on previous partitioning information, and then designating or merging these areas into existing partitions based on size, to create an updated target area-dividing map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot uses an existing partitioned map for cleaning, then cleaning efficiency is improved, but newly appeared areas cannot be cleaned effectively
Solution Approach 1:
The patent implements dynamic map partitioning by comparing the current map with the historical partitioned map and automatically updating partitions when new areas are detected. The system transitions from a static partitioned map to a dynamic one that adapts to environmental changes, allowing the robot to maintain high cleaning efficiency while effectively handling newly appeared areas through real-time partition adjustments.
2Measurement precision
If the robot re-partitions the entire map every time, then new areas are accurately partitioned, but time consumption increases
Solution Approach 1:
The patent segments the map partitioning process into two parts: retaining existing valid partitions from the historical map and only re-partitioning newly appeared areas. This segmentation approach maintains partitioning accuracy for new regions while avoiding redundant processing of unchanged areas, significantly reducing time consumption compared to complete re-partitioning.
Solution Approach 2:
The system performs preliminary comparison between the current map and historical partitioned map to identify new areas before executing partitioning operations. By pre-identifying the specific regions that require partitioning, the robot avoids unnecessary processing and directly applies partitioning algorithms only where needed, reducing overall time consumption while maintaining accuracy.
3Speed
If the robot cleans based on outdated partitions, then processing speed is fast, but cleaning coverage is incomplete
Solution Approach 1:
The patent implements a feedback mechanism where the robot compares the current map with the historical partitioned map, detects newly appeared areas, and updates partitions accordingly. This feedback loop ensures that the partitioning information remains current and accurate, allowing the robot to maintain fast processing speed while achieving complete cleaning coverage by always operating with up-to-date partition information.
Data Source
AI summary
A method for area dividing in a map for a mobile robot includes: obtaining a binary map corresponding to a target area; determining one or more first areas in the binary map according to partition information, wherein the one or more first areas are undivided areas in the binary map, the partition information corresponds to second areas in the binary map, and the second areas are divided areas in the binary map; for each first area of the one or more first areas, determining, according to size of the first area, the first area as a newly added second area, or merging the first area into a third area that is one of the second areas, thereby obtaining a target area-dividing map; and controlling the mobile robot according to the target area-dividing map.