Laser Point Suspension Judgment for Mobile Robot Map Accuracy

Solution Overview

Problem

Mobile robots face issues with map blurring and overlap due to suspension events, such as lifting or dropping, causing incorrect laser point cloud superimposition and misjudgment of obstacles, affecting navigation and positioning.

Innovation Solution

A robot suspension judgment method based on laser points, which uses laser beam simulation line segments to determine the robot's suspended state by counting obstacle grids within a range error, adjusting the map update strategy to prevent incorrect positioning information.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the robot continues to construct maps while suspended, then the robot can maintain navigation capability, but the map will overlap or blur due to incorrect laser point cloud superimposition

Engineering Contradiction:

Improvemap construction continuityVSAvoidmap accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The system performs preliminary detection by analyzing laser point cloud data to identify suspension states before they significantly degrade map quality. By detecting changes in laser point distribution patterns that indicate suspension, the system can proactively pause map construction, preventing the accumulation of erroneous data that would cause map overlap or blurring.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If the robot uses cliff sensors and drop sensors to detect suspension, then the robot can identify lifting and falling phenomena, but the detection is delayed until the robot is already suspended

Engineering Contradiction:

Improvesuspension detection accuracyVSAvoiddetection response time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary detection by analyzing laser point cloud data to identify suspension states before they significantly degrade map quality. By detecting changes in laser point distribution patterns that indicate suspension, the system can proactively pause map construction, preventing the accumulation of erroneous data that would cause map overlap or blurring.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors laser point cloud data and compares it against expected patterns for normal operation. When deviations indicating suspension are detected, the system provides immediate feedback to adjust map construction operations, creating a closed-loop control system that responds dynamically to robot state changes.

Inventive Principle:

Principle #23Feedback

3Adaptability or versatility

If the robot scans laser point cloud information at increased height when crossing obstacles, then the robot can detect obstacles, but the scanned information falls outside the wall and causes incorrect map updates

Engineering Contradiction:

Improveobstacle detection capabilityVSAvoidmap update accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The system continuously monitors laser point cloud data and compares it against expected patterns for normal operation. When deviations indicating suspension are detected, the system provides immediate feedback to adjust map construction operations, creating a closed-loop control system that responds dynamically to robot state changes.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20250339967A1Robot Suspension Judgment Method Based on Laser Points, a Map Update Method and a Chip

Publication Date: 2025.11.06 AMICRO SEMICONDUCTOR CO LTD

AI summary

The present applicant discloses a robot suspension judgment method based on laser points, a map update method, and a chip. The method comprises: laser beams emitted by the laser sensor are controlled to scan an area to be detected, so as to obtain a laser beam simulation line segment; at the same time, a pre-built grid map is obtained; according to the number of obstacle grids passed by the laser beam simulation line segment within the allowable range of the ranging error, a laser beam simulation line segment with judgment function is obtained, and the laser beam simulation line segment with judgment function is counted; and according to a ratio of the number of laser beam simulation line segments with judgment function to the number of all laser beam simulation line segments, it is judged whether the mobile robot is in a suspended state.