Autonomous Robot Rangefinder Fusion for Accurate Obstacle Maps
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Solution Overview
Problem
Existing methods for creating maps using open-source software for autonomous robots with multiple rangefinder sensors can result in incorrect maps, leading to obstacles being misidentified, causing the robot to collide with them during autonomous movement.
Innovation Solution
A method for controlling robots with multiple rangefinder sensors involves deleting some measurement data portions and integrating the remaining data into a virtual rangefinder sensor configuration, reducing the number of sensors, to create an accurate map for obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple rangefinder sensors are installed to measure a broad surrounding environment, then the measurement coverage is improved, but the map creation accuracy deteriorates due to data integration errors
Solution Approach 1:
The patent extracts and eliminates redundant or problematic measurement data portions from multiple rangefinder sensors. By selectively removing certain data portions that cause integration errors, the system maintains the benefits of multiple sensors for broad coverage while eliminating the harmful effects on map accuracy.
Solution Approach 2:
The patent introduces a data integration processing step that acts as an intermediary between multiple rangefinder sensors and the map creation system. This intermediary process selectively integrates data portions, converting multiple sensor inputs into accurate map information while filtering out problematic data that would otherwise cause integration errors.
2Quantity of substance
If all measurement data portions from multiple rangefinder sensors are integrated, then the data completeness is improved, but the map accuracy deteriorates due to coordinate integration errors
Solution Approach 1:
The patent applies different processing qualities to different data portions. Instead of uniformly integrating all data, it selectively processes certain data portions with special attention to their coordinate characteristics, applying appropriate integration methods only where needed to maintain overall map accuracy while preserving data completeness.
3Device complexity
If data from left and right rangefinder sensors are integrated into a single virtual sensor, then the system complexity is reduced, but the obstacle detection accuracy deteriorates
Solution Approach 1:
The patent segments the data processing into distinct stages: first integrating data from left and right sensors into a virtual sensor representation, then selectively processing specific data portions in subsequent stages. This segmentation allows the system to maintain low complexity at the integration level while achieving high accuracy through targeted processing of critical data portions.
Data Source
AI summary
A robot and a method for controlling the robot are provided, each of which prevents the robot from hitting an obstacle when autonomous movement of the robot is controlled using an OSS. The method for controlling a robot including a plurality of rangefinder sensors, the robot being configured to autonomously move based on a map created using one or more measurement data portions of the plurality of rangefinder sensors. The method includes: deleting some of the one or more measurement data portions of the plurality of rangefinder sensors; integrating the one or more measurement data portions remaining after the deleting into an integrated measurement data portion; and determining the integrated measurement data portion to be a measurement data portion of one or more virtual rangefinder sensors which are fewer in number than the number of the plurality of rangefinder sensors.