Robot Map Alignment Using Orthogonal Boundary Reference Frames
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Solution Overview
Problem
Cleaning robots face challenges in aligning maps consistently due to varying initial poses, leading to tilted maps that complicate positioning and navigation, and user understanding.
Innovation Solution
A map alignment method that involves acquiring boundary information, classifying lines into orthogonal groups, establishing a plane Cartesian coordinate system based on reference ratios, and aligning the map to adapt to user observation habits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning robot constructs the map from its initial position using SLAM technology, then the map can be created to facilitate positioning and navigation, but the map becomes tilted and inconsistent in orientation, making subsequent positioning and movement decisions more difficult
Solution Approach 1:
The patent changes the coordinate system parameters by establishing a plane Cartesian coordinate system with standardized positive directions (typically north or east as positive, south or west as negative). This parameter transformation converts the tilted, robot-centric map into a standardized, user-friendly orientation, resolving the contradiction between maintaining positioning accuracy and achieving consistent map alignment.
2Adaptability or versatility
If the map is constructed based on the cleaning robot's initial pose, then the map reflects the robot's perspective, but the orientation varies with different initial poses, posing challenges for display unit presentation
Solution Approach 1:
Instead of adapting the display to various map orientations, the patent inverts the approach by transforming all maps into a standardized orientation. The coordinate system transformation rotates and reorients maps with different initial poses into a unified format, simplifying the display complexity while preserving the adaptability of map construction from any initial robot pose.
3Extent of automation
If the map alignment is not standardized, then the robot can operate from any initial position, but the tilted map increases the difficulty of full display by the display unit and reduces user understanding
Solution Approach 1:
The patent applies parameter changes by transforming the coordinate system to establish standardized positive and negative directions. This transformation maintains the robot's operational autonomy (it can still start from any position) while simultaneously improving user understanding by presenting consistently oriented maps with uniform alignment, reducing display difficulties.
Data Source
AI summary
The present disclosure relates to the technical field of robots, and in particular, discloses a map alignment method. The method includes the following steps: acquiring boundary information of a map, wherein the boundary information includes state information of boundary lines and a total boundary length, and the total boundary length is a sum of lengths of all the boundary lines; classifying all boundary lines that meet a preset condition into one orthogonal line group; determining a relationship between a reference ratio and a determination threshold, if a first relationship is met, establishing a plane Cartesian coordinate system according to a first reference, and if a second relationship is met, establishing a plane Cartesian coordinate system according to a second reference, wherein the reference ratio is a ratio of a maximum boundary line length to the total boundary length, with the boundary line length being defined as a sum of lengths of all boundary lines within one orthogonal line group; and aligning the map according to the plane Cartesian coordinate system, and outputting the boundary information of the aligned map to a user terminal. The method decides the plane Cartesian coordinate system by determining the reference ratio, thus achieving the alignment of the map.