Robot Map Construction Using Wall-Guided Travel Direction
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Solution Overview
Problem
Existing map construction methods for robots in unknown environments result in random and irregular map generation, leading to poor user experience due to unpredictable robot motion paths.
Innovation Solution
A method involving the acquisition of a two-dimensional point cloud image to determine the main traveling direction by identifying the longest line segment, which guides the robot to travel along this direction, ensuring a smoother and more regular motion path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a random scanning method is adopted for map construction, then the robot can explore unknown environments, but the map construction regularity and robot travel smoothness are insufficient
Solution Approach 1:
The patent changes the motion parameters of the robot by introducing a main traveling direction parameter derived from wall detection. Instead of random motion, the robot's direction and speed are adjusted based on the detected wall orientation, transforming the motion pattern from stochastic to structured while maintaining exploration capability
Solution Approach 2:
The patent segments the motion control into distinct phases: wall detection phase, main traveling direction determination phase, and execution phase. This segmentation allows the robot to systematically process environmental information and translate it into structured motion patterns, improving map regularity
2Loss of information
If a random scanning method is used to determine obstacle situation, then the robot can construct a map of unknown environment, but the robot travel path is unpredictable and irregular
Solution Approach 1:
The patent implements feedback by using the detected wall information to continuously adjust the robot's traveling direction. The main traveling direction is determined based on wall detection results, and this directional information feeds back into the motion control system, creating a closed-loop control that ensures predictable and regular travel paths while maintaining complete environmental mapping
3Area of stationary object
If the robot travels in random directions, then it can cover all accessible areas, but the leveling and regularity of mapping do not meet user requirements
Solution Approach 1:
The patent introduces dynamic adjustment of the robot's motion parameters based on real-time wall detection. The main traveling direction is dynamically determined according to the detected wall orientation, allowing the robot to adapt its motion pattern to the environment structure. This dynamic control ensures systematic coverage of all accessible areas while maintaining mapping regularity that meets user requirements
Data Source
AI summary
A map construction method and a robot are provided. The map construction method includes: acquiring a two-dimensional point cloud image of a motion space, wherein the two-dimensional point cloud image is a data set composed of several point cloud data; determining a wall in the motion space according to the two-dimensional point cloud image; determining a main traveling direction according to the wall. The method adds up a function for searching the main traveling direction, and can provide the robot with optimal main traveling direction, which makes the map composition smoother, more regular and intuitive, and conforms to people's using habits, thereby facilitating improving the user experience.