Plurality of autonomous mobile robots and controlling method for the same
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Solution Overview
Problem
Existing autonomous mobile robot systems face challenges in determining the relative position of master and slave robots without relying on a server connection, especially when communication with the server is disrupted, leading to difficulties in seamless follow-up control.
Innovation Solution
The implementation of a system where one mobile robot outputs ultrasonic signals and uses Ultra-Wideband (UWB) signals to synchronize and triangulate the position of another mobile robot, allowing for accurate determination of relative positions regardless of server communication status.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the master robot and slave robot communicate only through a server, then centralized control is achieved, but communication may be disconnected when robots are located where it is difficult to communicate with the server
Solution Approach 1:
The patent introduces a dual communication path: robots can communicate through the server (intermediary) when available, or directly peer-to-peer when server connection is lost. This intermediary approach allows flexible switching between centralized and decentralized communication modes, maintaining reliability while managing complexity.
Solution Approach 2:
The communication architecture dynamically switches between server-mediated communication and direct robot-to-robot communication based on server availability. This dynamic adaptation resolves the contradiction by adjusting the communication path according to environmental conditions.
2Loss of information
If the master robot transmits relative position information to the slave robot through the server, then position information can be shared, but seamless follow-up control cannot be performed when server communication is disconnected
Solution Approach 1:
The server acts as an optional intermediary for position information transmission. When the server is unavailable, the system switches to direct ultrasonic-based position detection between robots, eliminating the intermediary dependency and maintaining control reliability.
Solution Approach 2:
The robots are pre-equipped with ultrasonic sensors and direct communication capabilities as a backup mechanism. This preliminary preparation ensures that position information can be obtained through alternative means when server communication fails.
3Reliability
If ultrasonic sensors are used for follow-up control, then seamless control can be achieved, but the cost of sensors increases
Solution Approach 1:
Instead of equipping all robots with expensive sensors, the patent uses ultrasonic sensors only on the slave robot for follow-up control, while the master robot uses standard obstacle detection sensors. This partial application reduces overall cost while maintaining control reliability.
Solution Approach 2:
The patent uses the master robot's obstacle detection sensor data as a reference to infer the slave robot's position, rather than requiring independent high-precision sensors on both robots. This copying approach reduces sensor requirements and costs.
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 enables accurate and seamless follow-up control between mobile robots, reducing sensor costs and ensuring reliable operation even in areas with poor server connectivity.
Implementation Method 1
a first mobile robot having a transmitting sensor for outputting sound wave of a first frequency
Implementation Method 2
outputting sound wave of a first frequency and a signal of a second frequency higher than the first frequency
Implementation Method 3
a first module for transmitting and receiving a signal of a second frequency higher than the first frequency
Data Source
AI summary
A plurality of autonomous mobile robots includes a first mobile robot provided with a transmitting sensor for outputting sound wave of a first frequency, and a first module for transmitting and receiving a signal of a second frequency higher than the first frequency. A second mobile robot is provided with a receiving sensor for receiving the sound wave of the first frequency and a second module for transmitting and receiving the signal of the second frequency. A control unit of the second mobile robot synchronizes an output time of the sound wave of the first frequency from the first mobile robot using the signal of the second frequency, and determines a relative position of the first mobile robot using the sound wave of the first frequency.