Robot Route Planning With Selective 3D Surface Mapping
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Solution Overview
Problem
Existing autonomous traveling robots face increased processing loads and data amounts due to the generation and analysis of environmental maps, leading to delays and memory requirements, especially in unknown environments with obstacles.
Innovation Solution
A moving apparatus and control method that generates and analyzes traveling surface shape data using visual sensors, selecting a generation target region based on movement route information, reducing processing load by generating data only for the necessary selection region.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If environmental map generation and analysis are performed using sensor data, then the robot can grasp obstacles and traveling surface conditions, but the processing load and data amount increase significantly
Solution Approach 1:
The patent divides the environment recognition process into two segments: a first recognition process that generates a rough environmental map using all sensor data, and a second recognition process that performs detailed analysis only on selected regions of interest. This segmentation reduces the processing load in the second stage while maintaining reliable obstacle detection for stable robot movement.
Solution Approach 2:
The patent extracts and focuses computational resources on specific regions of interest (such as areas near the robot's current position or planned path) rather than processing the entire environmental map. This extraction approach maintains reliable obstacle detection while significantly reducing the data amount and processing load required for detailed analysis.
2Loss of information
If full environmental map data is processed, then complete environment understanding is achieved, but processing delay and memory requirements increase
Solution Approach 1:
The patent applies different processing qualities to different regions of the environmental map: high-detail processing is applied only to regions of interest (such as areas near the robot or along the planned path), while lower-detail processing is applied to distant or less critical regions. This local quality approach maintains environment recognition accuracy where needed while reducing overall processing delay and memory requirements.
Data Source
AI summary
Provided is a data processing unit that analyzes detection information of a visual sensor and determines a movement route of the moving apparatus, and the data processing unit generates traveling surface shape data such as three-dimensional point cloud data that enables analysis of a shape of a traveling surface of the moving apparatus. The data processing unit selects a generation target region of the traveling surface shape data on the basis of the target movement route information of the moving apparatus and a predetermined search range region, generates the traveling surface shape data in the selection region selected, and determines a movement route such as a foot placement position of the moving apparatus with reference to the generated traveling surface shape data.