Indoor Robot Mapping with Roll-Angle Data Filtering
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Solution Overview
Problem
Indoor mobile robots face errors in map data creation due to accidents, uneven surfaces, and sensor inaccuracies, affecting their positioning and navigation efficiency.
Innovation Solution
A map creation method for mobile robots that involves obtaining Euler angles from ceiling images using a camera and laser radar, determining if the roll angle is within a preset range, and only saving map data when the robot is on a stable surface, ensuring accurate map creation by filtering out data from deflection angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the mobile robot continuously collects map data during working process, then the map creation coverage is improved, but the map data accuracy deteriorates due to robot shifting or rotating on uneven surfaces
Solution Approach 1:
The system continuously monitors the robot's posture through sensors (accelerometers, gyroscopes, compasses) and uses this feedback to determine whether to save map data. When posture deviation exceeds thresholds, the system stops saving data, thus maintaining accuracy while allowing continuous movement for coverage.
Solution Approach 2:
The system changes the operational parameters by dynamically adjusting the data saving decision based on real-time posture parameters (roll angle, pitch angle, yaw angle). When these parameters exceed predefined thresholds, the system transitions from saving mode to discarding mode, filtering out inaccurate data.
2Adaptability or versatility
If the mobile robot operates on uneven working surfaces, then the robot's mobility and adaptability are improved, but the sensor measurement precision deteriorates due to robot deflection
Solution Approach 1:
Sensors continuously monitor robot posture and provide feedback to the control system. When uneven surfaces cause posture deviations beyond acceptable ranges, the system detects this through accelerometer, gyroscope, and compass data, and accordingly stops saving map data to prevent incorporating inaccurate measurements.
Solution Approach 2:
The system introduces posture monitoring sensors and a control module as intermediaries between the robot's movement and map data saving. These intermediaries filter out data collected during unstable periods, ensuring only high-quality data from stable periods is saved to the map.
3Productivity
If the mobile robot saves all collected map data, then the map creation speed is improved, but the positioning and navigation reliability deteriorates due to accumulated errors
Solution Approach 1:
The system dynamically changes the data saving parameter based on posture conditions. Instead of always saving data (high speed) or never saving (high reliability), the system saves data only when posture parameters indicate stability, achieving an optimal balance between map creation speed and positioning reliability.
Solution Approach 2:
The system applies different quality standards to different data points based on local conditions. Map data collected during stable robot posture is saved with high quality, while data collected during unstable periods is discarded. This local quality control ensures overall map reliability while maintaining efficient creation speed.
Data Source
AI summary
The present disclosure 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 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. The present disclosure also discloses a mobile robot using the above method.