AMR Boundary Definition Using Alternative Paths for Poor GNSS Signal
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Solution Overview
Problem
Existing boundary defining methods for Autonomous Mobile Robots (AMRs) using satellite positioning are prone to errors, leading to inaccuracies in defining operating and no-entry areas, which can result in the AMR moving beyond intended boundaries, causing accidents.
Innovation Solution
A boundary defining system that includes a positioning unit and a processing unit to analyze satellite signal data, identifying risky or concerning path sections with poor signal conditions, and generating alternative or replacement paths to define accurate operating and prohibited boundaries by adjusting the path records accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If satellite positioning is used to define boundaries by circling around an area, then the boundary definition process is simple and automated, but positioning errors cause the defined boundary to deviate from the actual circled area
Solution Approach 1:
The patent applies preliminary action by pre-defining safety margins (first and second margins) around the positioned path before the AMR actually operates. These margins are calculated in advance based on positioning errors, creating a buffer zone that prevents the AMR from exceeding the true boundary even when positioning deviations occur during operation
Solution Approach 2:
The patent implements beforehand cushioning by creating protected areas (first protected area and second protected area) that extend beyond the precisely defined boundary. These cushioning zones act as safety buffers that absorb positioning errors, ensuring that even when the AMR drifts due to satellite positioning inaccuracies, it will not exceed the actual operational boundary
2Measurement precision
If the boundary is defined strictly according to positioning data, then the defined area is precise, but positioning errors cause the AMR to exceed the intended operating range or enter no-entry areas
Solution Approach 1:
The system performs preliminary calculation of safety margins based on expected positioning errors before the AMR begins operation. This allows the boundary to be adjusted in advance to account for anticipated deviations, maintaining both precision and reliability
Solution Approach 2:
The patent creates cushioning zones (protected areas) that extend beyond the precise boundary definition. These zones provide a safety buffer that absorbs positioning errors, ensuring that the AMR remains within safe operational limits even when positioning deviations occur
Data Source
AI summary
A boundary defining method implemented by a boundary defining system comprises: (A) obtaining a piece of positioning data that includes a path record and a signal status record, the path record indicating a circling path defining a circled area, the signal status record indicating one or more risky path sections in the circling path that meet a poor signal condition; (B) based on each risky path section indicated by the signal status record, determining an alternative path section corresponding to the risky path section and located within the circled area; and (C) based on at least the alternative path section(s), generating and outputting a piece of operating range data indicating an operating boundary, the operating boundary defining an operating area suitable for automatic movement of an autonomous mobile operation equipment, and that does not include the risky path section(s).