Boundary-Wire Robot Positioning Using Transit-Time Signals
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Solution Overview
Problem
Existing methods for detecting the position of autonomous robotic vehicles along a boundary conductor are not precise enough, leading to inefficient navigation and potential boundary crossing, especially in areas not delimited by walls.
Innovation Solution
The method involves transmitting two transit time signals, S1 and S2, around a boundary conductor, detecting their arrival at the vehicle, and determining the vehicle's position based on the time delay between them, using a detector unit and evaluation unit to process the signals and determine the vehicle's position along the boundary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single boundary conductor with continuous current is used for position detection, then the system structure is simple, but the position detection precision is insufficient
Solution Approach 1:
The patent divides the continuous boundary conductor into multiple segments by introducing at least one discontinuity. This segmentation allows the system to detect position more precisely by measuring the time delay of signals traveling along different segments, while maintaining relatively simple system structure.
Solution Approach 2:
The patent uses periodic signal transmission along the boundary conductor segments. By transmitting signals at regular intervals and measuring the time delay between signal emission and reception, the system achieves precise position detection through periodic measurement actions.
2Reliability
If traditional position detection methods are used, then the navigation is less efficient and boundary crossing risk increases, but implementing more complex detection systems would increase device complexity
Solution Approach 1:
The patent replaces complex mechanical or electronic position detection systems with a simpler electromagnetic signal-based system. By using time delay measurement of electromagnetic signals traveling along the boundary conductor segments, the system achieves reliable boundary crossing prevention without requiring complex detection hardware.
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 allows for precise detection of the robotic vehicle's position, enabling more systematic and efficient navigation within defined areas, reducing the risk of boundary crossing and optimizing work coverage.
Implementation Method 1
Emitting a first transit-time signal S1 in the form of a current signal fed onto the boundary conductor, whereby an alternating electromagnetic field is generated
Implementation Method 2
detecting the arrival of the first transit-time signal S1 at the robot vehicle, in particular as a result of detecting an electromagnetic field change caused by the transit-time signal S1
Data Source
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AI summary
The invention relates to a method for detecting a position of a mobile, in particular autonomous robot vehicle (10, 10a) along a boundary wire (12a, 12b, 24) surrounding a defined region (14, 26), comprising the following method steps: emitting a first delay time signal S1 in the form of a current signal fed to the boundary wire (12a, 24), wherein an electromagnetic alternating field (20a, 32) is generated; detecting an arrival of the first delay time signal S1 at the robot vehicle (10, 10a), in particular as a result of a detection of an electromagnetic field change brought about by the delay time signal S1 and in turn brought about by the generated electromagnetic alternating field (20a, 32); emitting a second delay time signal S2; detecting an arrival of the second delay time signal S2 at the robot vehicle (10, 10a); determining a time delay between the arrival of the first delay time signal S1 and the arrival of the second delay time signal S2; and determining the position of the robot vehicle (10, 10a) along the boundary wire (12a, 12b, 24) depending on the determined time delay. The invention further relates to a mobile, in particular autonomous robot vehicle (10, 10a) and a system (200, 202) comprising at least one boundary wire (12a, 12b, 24), a mobile robot vehicle (10, 10a) and a signal generator (16, 28) for generating a first delay time signal S1 and for generating a second delay time signal S2.