MAP CREATION METHOD OF MOBILE ROBOT AND MOBILE ROBOT

Title:

MAP CREATION METHOD OF MOBILE ROBOT AND MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2019/061964

Kind Code:

A1

Abstract:

A map creation method of a mobile robot and a mobile robot using the method. The mobile robot works in an indoor environment. The method comprises the following steps: S1: obtaining the Euler angle of a current point relative to a reference point according to the ceiling images captured at the current point and the reference point; S2: determining whether the roll angle θy of the Euler angle is smaller than a set value, if yes, storing map data of the current point, and if not, abandoning saving of the map data of the current point; S3: returning to step S1 after the mobile robot moves for a predetermined period or a predetermined distance; and S4: repeating steps S1 to S3 till the map in the working area is created. According to the method, whether a mobile robot deflects on a working surface can be effectively determined, and erroneous map data is deleted when the mobile robot deflects, thereby improving the map creation precision of the mobile robot.

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Inventors:

QIAN FEIFAN (CN)
YANG KAI (CN)
ZHENG ZHUOBIN (CN)
DING HUANG (CN)

Application Number:

PCT/CN2018/073929

Publication Date:

April 04, 2019

Filing Date:

January 24, 2018

Export Citation:

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Assignee:

GUANGDONG BONA ROBOT CORP LTD (CN)

International Classes:

G05D1/02

Foreign References:

CN103680291A	2014-03-26
CN102866706A	2013-01-09
CN104881029A	2015-09-02
JP2017027213A	2017-02-02
JP5557189B2	2014-07-23

Other References: