Indoor Robot Mapping Using Ceiling Images to Reject Deflection Errors
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Solution Overview
Problem
Existing indoor mobile robots face inaccuracies in map data creation due to shifts or rotations during operation, leading to errors in positioning and navigation, which affect their efficiency and functionality.
Innovation Solution
A map creation method for mobile robots that determines Euler angles relative to a reference point using panoramic camera images and a RANSAC algorithm to identify and exclude map data errors caused by deflections, ensuring accurate map creation by only saving data within a preset angle range (5° to 10°) to maintain surface alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the mobile robot continues to collect map data during operation, then the map coverage is improved, but the map data accuracy deteriorates due to robot deflection
Solution Approach 1:
The system performs preliminary action by establishing a reference point at the starting position and calculating initial Euler angles before the robot begins moving. This reference framework is set up in advance to enable continuous monitoring and comparison of subsequent positions, allowing the system to distinguish between intentional movement and unwanted deflection.
Solution Approach 2:
The system implements feedback by continuously calculating Euler angles at each new position and comparing them against the reference point. When the angle difference exceeds the preset threshold, the system provides feedback to exclude the corresponding map data, thereby maintaining accuracy while allowing continuous exploration for coverage.
2Adaptability or versatility
If the mobile robot operates on uneven surfaces, then the robot's adaptability is improved, but the positioning accuracy deteriorates due to shifts and rotations
Solution Approach 1:
The system applies parameter changes by introducing Euler angles as a new parameter to describe the robot's orientation state. By monitoring changes in these angular parameters relative to the reference point, the system can distinguish between legitimate operational movements and harmful deflections caused by uneven surfaces, thereby maintaining positioning accuracy across varied terrains.
3Productivity
If the mobile robot collects data continuously without interruption, then the productivity is improved, but the map data quality deteriorates due to accumulated errors from deflection
Solution Approach 1:
The system applies the extraction principle by separating valid map data from erroneous data through angle threshold comparison. When the Euler angle difference exceeds the preset threshold, the corresponding map data is extracted and excluded from the final map, thereby maintaining overall data quality while allowing continuous data collection to proceed without interruption.
Data Source
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AI summary
The present invention discloses a map creation method of a mobile robot, the mobile robot working indoors, comprising the following steps: S1: obtaining Euler angles of a current point relative to a reference point according to a ceiling image taken from the current point and the reference point; S2: determining whether the roll angle θy of the Euler angles is lower than a set value, if so, saving the map data of the current point, otherwise, not saving the map data of the current point; S3: returning to step S1 after the mobile robot moves a predetermined distance or for a predetermined time; S4: repeating steps S1 through S3 until the map creation in the working area is complete. Compared with the prior art, the technical solution of the present invention effectively determines whether the mobile robot deflects on the working surface and deletes the map data with errors when the mobile robot deflects, thus improving the map creation accuracy of the mobile robot. The present invention also discloses a mobile robot using the above method.