Robot control method, robot and storage medium
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Solution Overview
Problem
Existing robot technologies struggle to adapt to local conditions after relocation, leading to uncontrollable drift errors and inability to meet user requirements in task execution.
Innovation Solution
A robot control method that determines its position and task execution area based on relocalization operations and environmental information, allowing flexible task execution without returning to the original hijacked position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot returns to the original hijacked position to continue executing the task, then the task can be completed, but the robot cannot adapt to local conditions and may not meet user requirements
Solution Approach 1:
Instead of returning to the original hijacked position to continue the task, the patent inverts the approach by determining the current release position through relocalization and executing the task from this new position. The robot captures environmental information at the release position, determines the task execution area based on this new location, and completes the task without returning to the original position, thereby adapting to local conditions while maintaining task execution capability
Solution Approach 2:
The patent changes the spatial parameter of task execution by determining the task execution area based on the release position rather than the original hijacked position. Through relocalization operations, the robot updates its position parameters and uses environmental information from the new position to define the task execution area, allowing flexible adaptation to different local conditions
2Measurement precision
If the robot uses SLAM for autonomous localization and navigation, then the robot can navigate autonomously, but uncontrollable drift errors occur when the robot is hijacked and returned
Solution Approach 1:
The patent implements feedback through relocalization operations. When the robot is released from being hijacked, it performs relocalization to capture current environmental information and determine the release position. This feedback mechanism allows the robot to correct localization drift by comparing the current environment with stored environmental information, thereby improving both localization accuracy and stability
Solution Approach 2:
The patent uses preliminary action by pre-storing environmental information during the SLAM mapping process. When hijacking occurs and the robot is returned, the pre-stored environmental information serves as a reference for relocalization, allowing the robot to quickly and accurately determine its release position without accumulating drift errors
3Adaptability or versatility
If the robot executes tasks from the release position after hijacking, then the robot can adapt to local conditions, but the task execution area must be dynamically determined
Solution Approach 1:
The patent applies universality by using the same environmental information capture and processing mechanism for both localization and task execution area determination. The environmental information serves multiple functions: it enables relocalization to find the release position and simultaneously defines the task execution area boundaries. This multi-functional approach reduces control algorithm complexity while maintaining high adaptability to local conditions
Data Source
AI summary
The embodiment of the present disclosure provides a robot control method, a robot and a storage medium. In the embodiment of the present disclosure, the robot determines a position when the robot is released from being hijacked based on relocalization operation; determines a task execution area according to environmental information around the position when the robot is released from being hijacked; and afterwards executes a task within the task execution area. Thus, the robot may flexibly determine the task execution area according to the environment in which the robot is released from being hijacked, without returning to the position when the robot is hijacked, to continue to execute the task, then acting according to local conditions is realized and the user requirements may be met as much as possible.