Robot Map Switching Control for Large-Area Continuous Operation
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Solution Overview
Problem
Existing robots face challenges in performing continuous operations in large environments due to limitations in map constructing and navigation, leading to poor operation accuracy and stability, high hardware requirements, and increased costs.
Innovation Solution
The proposed solution involves a robot control method and apparatus that divide a large environment into smaller map regions, construct operation maps for each region, establish a map connection relationship, and enable cross-map continuous operation by switching between maps at common regions, thereby improving navigation accuracy and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a robot uses a single large-scale operation map to navigate in large environments, then the robot can cover the entire area, but the map constructing complexity and navigation computational burden increase significantly
Solution Approach 1:
The patent divides a large-scale environment into multiple small-scale operation maps, each covering a specific region. The robot constructs and navigates using these segmented maps individually, then switches between them when moving between regions, thereby reducing the complexity of map construction and navigation computation for each individual map while maintaining comprehensive coverage.
2Area of stationary object
If a robot uses a single large-scale operation map, then the robot can navigate the entire environment, but the hardware requirements and costs increase
Solution Approach 1:
By segmenting the large environment into multiple small maps, the robot only needs to load and process one small map at a time, reducing the requirements for memory, processing power, and storage hardware. This segmentation approach allows the use of more affordable hardware configurations while still enabling navigation across large areas through map switching.
3Area of stationary object
If a robot uses a single large-scale operation map, then the robot can operate continuously across the entire area, but the operation accuracy and stability decrease
Solution Approach 1:
Each small-scale operation map can be constructed and optimized independently with higher precision, focusing on local features and details. This segmentation allows for more accurate localization and navigation within each small map compared to a single large map, where features might be too sparse or indistinct. The robot maintains high operation accuracy by operating within these precise small maps and switching between them.
4Ease of manufacture
If a robot divides the environment into multiple small operation maps, then the map constructing complexity and hardware requirements are reduced, but the system complexity for map switching increases
Solution Approach 1:
The patent introduces a map management module that acts as an intermediary to handle map switching automatically. This module maintains a map library, determines when switching is needed based on robot position and target information, and manages the transition between maps. By centralizing this functionality in a dedicated module, the complexity of map switching is encapsulated and managed systematically, rather than being scattered throughout the navigation system.
Data Source
AI summary
A robot control method, including: determining a target operation map according to target position information of a current operation of a robot; determining, based on a pre-established map connection relationship, a transfer position that the robot moves to; controlling the robot to move to the transfer position and switching maps, until the robot moves to the target operation map; and controlling the robot to move to an operation destination according to map information of the target operation map and the target position information.