Base Station Geometry Localization for Autonomous Robot Docking

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Solution Overview

Problem

Autonomous mobile robots face challenges in reliably identifying and localizing their base stations, especially in environments with disturbances or shifting base stations, which can lead to failed docking maneuvers due to odometry errors and obstacles.

Innovation Solution

The system employs a navigation module with a navigation sensor that detects geometric features of the base station, allowing the robot to identify and localize it without special markings or signals, using geometric characteristics of the base station's housing for recognition and calibration, and adjusts its position and orientation for precise docking, while also detecting and informing users of obstacles.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If the robot uses odometry for navigation and docking, then the docking maneuver can be performed autonomously, but the localization accuracy deteriorates due to cumulative errors

Engineering Contradiction:

Improveautonomous dockingVSAvoidlocalization accuracy

Core Design Contradiction:

Extent of automationVSMeasurement precision

Solution Approach 1:

The patent introduces a base station as an intermediary reference object with known geometric features. The navigation sensor detects these features to obtain accurate position and orientation information, serving as a mediator between the robot's autonomous navigation needs and the precision requirements for docking. This eliminates reliance on cumulative odometry errors by providing an external reference frame.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the mechanical odometry-based localization system with an optical/electromagnetic sensing system. The navigation sensor (e.g., laser scanner, camera) detects geometric features of the base station to determine robot position and orientation, substituting the mechanical wheel-based odometry method that suffers from cumulative errors.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If the base station uses special markings or signals for identification, then the robot can easily identify and localize the base station, but the device complexity and manufacturing cost increase

Engineering Contradiction:

Improvebase station identification accuracyVSAvoidbase station structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The base station housing itself serves the dual purpose of protection and identification. The geometric features (corners, edges, surfaces) of the housing are utilized directly as navigation features without requiring additional markings, lights, or signals. The housing structure provides its own identification characteristics through its geometry.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The base station housing performs multiple functions: it protects internal components, provides structural support, and simultaneously serves as the navigation reference object. The same physical structure that encloses the base station components also provides the geometric features for robot detection and localization.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If the robot performs multiple varying and testing operations for docking, then the docking accuracy improves, but the time required for docking increases

Engineering Contradiction:

Improvedocking accuracyVSAvoiddocking time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The robot performs preliminary detection of the base station's geometric features from a distance before approaching for docking. This preliminary action provides advance information about the base station's position and orientation, allowing the robot to plan its approach trajectory and reduce the number of trial-and-error adjustments needed during actual docking.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The navigation sensor continuously detects the base station's geometric features during the docking process, providing real-time feedback about the robot's position and orientation relative to the base station. This feedback enables the robot controller to make precise adjustments to achieve accurate docking while minimizing unnecessary trial-and-error movements.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20220083070A1Identification And Localization Of A Base Station Of An Autonomous Mobile Robot

Publication Date: 2022.03.17 PAPST LICENSING GMBH & CO KG

AI summary

In the following, a system having an autonomous mobile robot and a base station for the robot is described. In accordance with one example, the robot comprises a navigation module with a navigation sensor for detecting geometric features of objects in the environment of the robot. The base station has at least one geometric feature which can be detected by the robot by means of the navigation sensor. The robot includes a robot controller that is coupled with the navigation module, the robot controller being configured to identify and/or localize the base station and/or to determine a docking position of the robot based on the at least one geometric feature of the base station.