Robot Magnetometer Mapping for Orientation Under Magnetic Interference
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Solution Overview
Problem
Autonomous mobile robots face challenges in determining their orientation within a previously mapped area, especially in residential environments with strong magnetic interference, which affects their navigation and self-localization capabilities.
Innovation Solution
The method involves measuring the direction and magnitude of physical vector fields, such as magnetic fields, at multiple poses to determine a preferred direction in the robot's application area, which is then used to improve navigation and self-localization by creating a magnetic field map and aligning map data for user-friendly display on a human-machine interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetic field measurements are used for robot navigation and orientation determination, then the robot's ability to self-localize and navigate is improved, but the reliability of measurements deteriorates in environments with strong magnetic interference
Solution Approach 1:
The patent segments the magnetic field measurement process into multiple discrete poses. The robot measures the magnetic field at several different positions and orientations within the operating area, then combines these segmented measurements to determine the preferred direction. This segmentation allows the system to distinguish between magnetic field variations caused by robot position changes versus those caused by interference sources.
Solution Approach 2:
The patent performs preliminary magnetic field measurements during a mapping phase before actual navigation tasks. The robot systematically measures the magnetic field at multiple poses while creating or updating the map, storing this preliminary data as reference information. During subsequent navigation, the robot compares current measurements against this pre-established baseline to determine orientation, avoiding the need to navigate in real-time magnetic interference conditions.
2Measurement precision
If multiple poses are measured to determine preferred direction of physical vector field, then navigation accuracy is improved, but the time required for mapping and setup increases
Solution Approach 1:
The patent performs comprehensive magnetic field measurements at multiple poses during an initial mapping phase, storing this data for repeated use. This preliminary action eliminates the need to repeat time-consuming measurements during subsequent navigation tasks, as the robot can reuse the established preferred direction information from the stored map data.
Solution Approach 2:
The patent creates a simplified representation (copy) of the magnetic field characteristics by determining and storing the preferred direction as a single vector attribute in the map data. This copied information captures the essential orientation reference without requiring storage of complete multi-pose measurement datasets, reducing memory requirements and enabling fast retrieval during navigation.
3Ease of operation
If map data is aligned and transformed for user-friendly display on human-machine interface, then user interaction is improved, but computational complexity increases
Solution Approach 1:
The patent extracts and separates the preferred direction information as a distinct attribute from the overall map data structure. By isolating this specific piece of information, the system can apply coordinate transformations and alignments independently to the preferred direction vector without unnecessarily processing the entire map dataset, reducing computational overhead while maintaining user-friendly display capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the robot's ability to navigate and self-localize by providing a consistent orientation reference, reducing ambiguity and improving user interaction with map data, even in environments with significant magnetic interference.
Implementation Method 1
a magnetic field generated by at least one magnet at the base station is measured, allowing the docking maneuver to be monitored based on the measured magnetic field
Data Source
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Figure 3(a)~3(c)
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AI summary
Methods for an autonomous mobile robot are described. According to an exemplary embodiment, one method comprises the detection of information regarding the structure of the environment around the robot in the robot deployment area by means of a first sensor unit of the robot and the creation of a map based on the detected information. The method also comprises the measurement of a direction and/or a quantity of at least one physical vector field variable for one or more poses of the robot by means of a second sensor unit and the determination, based on the measurement(s) carried out for one or more poses of the robot, of a preferred direction of the at least one physical vector field variable for the robot deployment area (or a portion thereof). Furthermore, corresponding robots and robot systems are described.