Virtual Wall Updating for Extended Robot Map Access
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Solution Overview
Problem
Existing virtual walls in robot maps become irrelevant during extended mapping, causing the robot to be hindered by illegitimate barriers, as existing virtual walls are not updated and may prevent the robot from accessing new regions.
Innovation Solution
A method and apparatus for updating virtual walls by detecting the legitimacy of each wall based on paths in an extended map, removing illegitimate virtual walls, and updating the map to include only legitimate virtual walls, thereby creating a target extended map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If virtual walls are added to the original map to prevent robot from entering regions with no service points, then robot navigation safety is improved, but the robot is hindered by illegitimate virtual walls when accessing new regions during extended mapping
Solution Approach 1:
The virtual wall set is dynamically updated during extended mapping. The system detects illegitimate virtual walls by checking path connectivity and removes them from the extended map, while maintaining legitimate virtual walls. This dynamic adjustment allows the robot to safely navigate original regions while accessing new extended regions without being blocked by obsolete virtual wall constraints.
Solution Approach 2:
The system performs preliminary detection of virtual wall legitimacy before finalizing the extended map. By checking whether virtual walls block valid paths to new regions in advance, the system identifies and removes illegitimate virtual walls before they can hinder robot navigation, ensuring both safety and adaptability from the outset.
2Area of stationary object
If extended mapping is performed to include new regions, then robot operational area is expanded, but illegitimate virtual walls from the original map become irrelevant and hinder robot movement
Solution Approach 1:
The system extracts and removes illegitimate virtual walls from the extended map while retaining legitimate ones. By identifying virtual walls that block valid paths to new regions and removing them, the system expands the robot's operational area without the hindrance of obsolete constraints, maintaining movement efficiency in extended regions.
Solution Approach 2:
The virtual wall configuration is dynamically adjusted during extended mapping. The system adaptively removes illegitimate virtual walls based on path analysis, allowing the robot to efficiently operate in expanded regions while maintaining necessary constraints in original regions.
3Reliability
If all virtual walls from the original map are retained in the extended map, then navigation safety in original regions is maintained, but robot cannot access new regions due to illegitimate virtual wall barriers
Solution Approach 1:
The virtual wall set is dynamically updated based on the extended map structure. The system maintains legitimate virtual walls that ensure navigation safety in original regions while removing illegitimate ones that block productivity in new regions, achieving both safety and efficiency simultaneously.
Solution Approach 2:
The system uses path detection as feedback to identify illegitimate virtual walls. By checking whether virtual walls block valid paths to new regions, the system determines which walls to remove, ensuring that navigation safety is maintained where needed while eliminating barriers to productivity in extended regions.
Data Source
AI summary
Disclosed in the present application is a method for updating a virtual wall. The method includes: performing extended mapping on an original map to obtain an extended map, the original map including M virtual walls, M being an integer greater than or equal to 1; according to one or more paths which are comprised in the extended map, detecting the legitimacy of each virtual wall among the M virtual walls in the extended map; and according to the legitimacy of each virtual wall in the extended map, updating the M virtual walls in the extended map to obtain a target extended map, the target extended map including N virtual walls among the M virtual walls.