Autonomous Mobile Docking via Dual Positioning Without Buried Wires
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Solution Overview
Problem
Existing autonomous mobile gardening devices face challenges in efficient docking with charging stations, requiring buried wires for navigation and reconstruction, which is time-consuming and costly, and complicates moving the charging station without relocating wires.
Innovation Solution
The method involves performing first and second positioning on the autonomous mobile device to determine its current pose and plan a path to the charging station using identifiers, allowing for accurate and efficient navigation without buried wires, and adapting to charging station repositioning without wire relocation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If buried wires are used for positioning and navigation, then the autonomous mobile device can identify the work region boundary and obstacles, but the installation is time-consuming and cost-consuming requiring professional burial work
Solution Approach 1:
The patent replaces the mechanical wire-based positioning system with an optical/image-based positioning system. The autonomous mobile device uses an image collector to capture images of feature points in the environment and calculates its position and orientation through image processing and coordinate transformation, eliminating the need for physical wire installation while achieving accurate positioning.
Solution Approach 2:
The patent creates a virtual map of the work region by collecting and storing images and feature point information. This virtual map serves as a digital copy of the physical environment, allowing the device to navigate and dock without physical wires by comparing real-time images with the stored virtual map.
2Ease of operation
If buried wires are used for guiding the charging station, then the autonomous mobile device can follow the boundary, but relocating the charging station requires time-consuming wire reconstruction
Solution Approach 1:
The patent implements a dynamic positioning system where the autonomous mobile device continuously captures images, identifies feature points, and updates its position in real-time. The virtual map and coordinate transformations are dynamically updated as the device moves and as the charging station is relocated, allowing the system to adapt to changing configurations without physical reinstallation.
Solution Approach 2:
The image-based positioning system serves multiple functions: it enables the autonomous mobile device to locate the work region boundary, identify obstacles, navigate to the charging station, and adapt to charging station relocation. This universal system replaces multiple specialized wire-based systems, providing both docking capability and mobility flexibility.
3Measurement precision
If high-precision positioning is used for docking, then the autonomous mobile device can accurately reach the charging station, but the data processing cost and power consumption increase
Solution Approach 1:
The patent divides the work region into multiple sub-regions based on the virtual map and feature point distribution. The image collector processes images to identify feature points in the current sub-region, and the positioning calculation is performed locally using coordinate transformations specific to that sub-region. This segmented approach reduces the computational burden compared to processing the entire work region at once while maintaining docking precision.
Data Source
AI summary
An autonomous mobile device and a method for controlling the same are provided. The method includes: performing first positioning on the autonomous mobile device to acquire a first current pose of the autonomous mobile device in a first coordinate system; performing second positioning on the autonomous mobile device when determining, based on the first current pose and a first preset pose of a charging station in the first coordinate system, that a distance between the autonomous mobile device and the charging station is less than or equal to a first preset distance, to obtain a second current pose of the autonomous mobile device in a second coordinate system, and determining, based on the second current pose and a second preset pose of the charging station in the second coordinate system, a second planned path for directing the autonomous mobile device to a docking position of the charging station.