Swarm Robot Object Removal via Local and Object Maps
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Solution Overview
Problem
Current decentralized approaches for multi-robot collaboration in sweeping unknown areas face inefficiencies and operational complexities, particularly in managing robot behavior and productivity, especially when dealing with malfunctions and partial information.
Innovation Solution
A swarm robot system comprising a driving part, manipulating part, detecting part, locating part, and control part that collaboratively generates local and object maps to efficiently search, detect, and remove objects using modes like wander, hold, sweep, and circuit modes, optimizing object removal through coordinated behavior among robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a centralized approach is used to control multi-robots, then optimal operation solution is provided, but operation complexity increases exponentially as the number of robots increases
Solution Approach 1:
The patent divides the centralized control system into multiple decentralized robot units, each capable of autonomous decision-making. Instead of one central controller managing all robots, each robot segments the control function and operates independently while collaborating with others to achieve the common goal of area sweeping and object removal.
Solution Approach 2:
The patent implements dynamic task allocation where robots can change their roles and behaviors based on real-time environmental conditions and task requirements. Robots dynamically adjust their sweeping paths, object detection priorities, and collaboration strategies during operation, allowing the system to adapt flexibly without centralized coordination.
2Reliability
If robots wait for collaboration to remove objects, then cooperative task completion is achieved, but waiting time increases productivity loss
Solution Approach 1:
The patent implements preliminary object detection and registration before collaboration is fully established. Robots detect and register objects in advance during their wandering phase, creating a prioritized object map. This allows them to proceed directly to removal activities once collaboration partners are found, minimizing idle waiting time while ensuring cooperative completion.
Solution Approach 2:
The patent enables robots to independently perform object removal when they encounter objects during wandering, without requiring explicit collaboration. Each robot serves itself by detecting, registering, and removing objects autonomously, while still contributing to the overall team goal. This self-service capability eliminates waiting time for collaboration while maintaining cooperative task completion.
Data Source
AI summary
A swarm robot and a sweeping method using the swarm robot are provided. The swarm robot removes a plurality of objects in a given sweeping area, and at least two swarm robots collaborate to remove the individual object. The swarm robot searches the sweeping area, detects environment information of the sweeping area, locates the swarm robot in the sweeping area, generates a local map and an object map using the environment information and the acquired position, moves to the object according to the local map and the object map, and removes the object.