Autonomous Mobile Robot Docking Using Multi-Sensor Distance Feedback
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Solution Overview
Problem
Conventional autonomous mobile robots face inefficiencies and inaccuracies in positioning themselves for charging due to complex and power-consuming signal receiving and transmitting circuits, which become less accurate over time due to signal attenuation.
Innovation Solution
The autonomous mobile robot employs a control method with multiple sensing units and a distance sensing unit to detect guiding signals and measure the distance to the charging station, adjusting its movement based on the measured distance and a threshold to ensure accurate docking, reducing the need for path corrections and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the autonomous mobile robot uses a conventional signal receiving and transmitting circuit for positioning, then the robot can detect the guiding signal from the charging station, but the positioning calculation becomes time-consuming, power-consuming, and costly, and the positioning accuracy deteriorates over time due to signal attenuation
Solution Approach 1:
The patent divides the positioning function into two parts: the charging station transmits simple guiding signals (visual or auditory) without complex embedding, while the robot uses multiple sensing units to detect these signals. The positioning calculation is simplified by using the relative strength comparison of signals from multiple sources rather than complex absolute positioning calculations, thereby reducing device complexity while maintaining positioning accuracy.
Solution Approach 2:
The patent introduces multiple sensing units (first, second, and third sensing units) as intermediaries between the guiding signal and the robot's positioning system. These sensing units detect signals from different directions and distances, providing redundant information that simplifies the overall positioning calculation and reduces dependence on complex signal processing circuits.
2Ease of manufacture
If the autonomous mobile robot uses absolute value positioning based on guiding signal strength, then the positioning method is simple, but the positioning accuracy deteriorates after the charging station is used for a long time due to signal attenuation
Solution Approach 1:
The patent implements a feedback mechanism where the robot continuously monitors the strength of guiding signals from multiple sensing units and adjusts its positioning calculations accordingly. When signal attenuation occurs over time, the system detects the change in relative signal strengths and compensates for the degradation, maintaining positioning accuracy without requiring complex recalibration procedures.
Solution Approach 2:
The patent changes the positioning parameter from absolute signal strength to relative signal strength ratio. Instead of relying on the absolute value of guiding signal strength which attenuates over time, the system compares the relative strengths of signals detected by multiple sensing units. This parameter transformation makes the positioning method robust against signal attenuation while keeping the implementation simple.
3Device complexity
If the autonomous mobile robot relies solely on guiding signal strength for docking, then the control system is simple, but the docking accuracy is insufficient when the guiding distance is short
Solution Approach 1:
The patent adds spatial dimensionality to the docking control by distributing multiple sensing units in different directions (front, rear, left, right) around the robot. Instead of relying on a single signal strength measurement, the system uses the spatial distribution of signal strengths from multiple sensing units to determine both the direction and distance to the charging station, significantly improving docking accuracy while keeping each individual sensing unit simple.
Solution Approach 2:
The patent employs preliminary action by having the robot perform path correction movements before final docking. The robot first uses the multiple sensing units to identify the general direction of the charging station, moves to a position where the guiding signal is strongest, and then performs fine-adjustment docking. This preliminary positioning action ensures accurate docking even when the initial guiding distance is short.
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 accuracy and efficiency of the autonomous mobile robot's docking process by reducing the number of path corrections and ensuring reliable charging, even as the guiding signal strength decreases over time.
Implementation Method 1
the positioning is not accurate due to the attenuation of the guiding signal
Data Source
AI summary
A control method of an autonomous mobile robot comprises: receiving a dock signal and executing a control program according to the dock signal. The control program includes detecting a first guiding signal, a second guiding signal and a third guiding signal transmitted by the charging station via the first sensing unit, the second sensing unit and the third sensing unit, sensing a measured distance between the autonomous mobile robot and the charging station when the second guiding signal is detected by the second sensing unit, and the autonomous mobile robot moves toward the charging station or away from the charging station according to the measured distance and a first threshold, and re-executing the control program.