AMR Workpiece Transport Using Dummy Walls for Precise Localization
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Solution Overview
Problem
Conventional robot systems face challenges in accurately localizing autonomous mobile robots (AMRs) due to the interference of work robots and locators in the work area, which can obstruct sensor detection of walls, leading to decreased localization accuracy and the need for precise positioning.
Innovation Solution
The system employs objects, such as L-shaped and I-shaped plates, mounted on locators or work robots, which are detected as walls by the AMR's sensors, ensuring accurate localization by being included in the map and allowing sensors to detect these objects even when blocked by the work robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If work robots and locators are placed in the work area to perform work on workpieces, then productivity and work capability are improved, but sensor detection of walls is obstructed leading to decreased localization accuracy
Solution Approach 1:
The patent introduces dummy walls as intermediary objects that are detected by the AMR's sensors instead of actual walls. These dummy walls are positioned in the work area and serve as reference points for localization, mediating between the work robots and the AMR's navigation system. The dummy walls provide stable detection targets that are not obstructed by the presence of work robots, thereby maintaining localization accuracy while allowing full utilization of the work area for productive operations.
2Manufacturing precision
If the AMR requires precise positioning in the work area to ensure correct workpiece positioning, then manufacturing precision is improved, but the complexity of achieving accurate localization increases due to multiple robots in the area
Solution Approach 1:
The patent creates simplified copies of wall structures (dummy walls) that are specifically designed for sensor detection purposes. These dummy walls are positioned in the work area and serve as reference points for localization. The dummy walls provide stable, easily detectable geometric features that simplify the localization algorithm, allowing the AMR to achieve precise positioning without complex processing of obstructed wall detections. This copying approach reduces computational complexity while maintaining high positioning accuracy.
3Ease of operation
If magnetic tapes are used on the floor surface to guide AGVs, then ease of operation is improved, but the device complexity and floor modification requirements increase
Solution Approach 1:
The patent replaces the mechanical magnetic tape guidance system with an optical/sensor-based detection system. Instead of using magnetic fields embedded in the floor, the system uses visually detectable dummy walls that the AMR's sensors can detect and use for localization and navigation. This substitution eliminates the need for floor modifications and magnetic infrastructure, reducing device complexity while maintaining ease of operation through sensor-based autonomous navigation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the AMR's localization accuracy by stabilizing sensor detection, enabling precise positioning and reducing the size of the work area, while eliminating the need for physical guides like rails and lifts, allowing flexible manufacturing line layouts.
Implementation Method 1
an object (71, 72) being detected by the sensor (65) and included as a wall in the map (661)
Data Source
AI summary
A robot system includes: a robot placed in a work area; and a transport robot that transports a workpiece to the work area by autonomously traveling while estimating its own position using a map and a sensor and stops in the work area; and an object located between the robot and the transport robot in the work area, the object being detected by the sensor and included as a wall in the map both when the transport robot creates the map using the sensor and when the transport robot transports the workpiece using the map and the sensor.