Hybrid Robot Positioning for GNSS-Blocked Green Space Coverage
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Solution Overview
Problem
Existing methods for determining the position of autonomous mobile green space processing robots are inadequate in areas where global positioning signals are insufficient or blocked, leading to incomplete coverage and reduced autonomy in processing tasks.
Innovation Solution
A method that automatically determines the robot position using a combination of global and local positioning signals, allowing for position determination in all areas through exchange with position determination stations, even when global signals are unreliable, enabling complete coverage and autonomous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If only global positioning signals are used for determining robot position, then the system structure remains simple, but position determination becomes unreliable in areas where global signals are blocked or insufficient
Solution Approach 1:
The positioning system is segmented into two independent subsystems: a global positioning subsystem using GNSS receivers for open areas, and a local positioning subsystem using position determination stations for signal-blocked areas. Each subsystem operates autonomously in its optimal environment, with the robot switching between them based on signal availability.
Solution Approach 2:
Position determination stations act as intermediary elements between the robot and the positioning infrastructure. These stationary transmitters establish local reference frames and provide positioning signals in areas where global satellite signals are blocked, effectively mediating the positioning function in GPS-denied environments.
2Area of stationary object
If a hybrid positioning system with local stations is implemented, then complete area coverage is achieved, but the device complexity increases
Solution Approach 1:
The positioning system dynamically adapts its configuration by activating local position determination stations only in areas where global signals are insufficient. The robot continuously assesses signal quality and switches between global and local positioning modes, making the system dynamically responsive to environmental conditions rather than statically configured.
Solution Approach 2:
The position determination stations serve multiple functions: they provide local positioning signals for the robot, establish reference frames for mapping, and can potentially serve other autonomous vehicles or devices in the same environment. This multi-functionality justifies the added infrastructure by maximizing its utility across different operations.
3Measurement precision
If global positioning signals are blocked by boundary objects, then position determination accuracy decreases, but adding local stations increases system complexity
Solution Approach 1:
The system implements local quality by deploying position determination stations with specific characteristics optimized for their local environment. Each station creates a localized reference frame tailored to the geometric constraints of its position, providing high-precision positioning specifically in the areas where global signals are blocked by boundary objects like fences or walls.
Data Source
Figure 1~2
AI summary
The invention relates to a method for determining a robot position (PRx) of an autonomous mobile green space maintenance robot (60) on an area (100) to be maintained, wherein the method comprises the steps: a) determining at least one robot position (PRa-h) of the autonomous mobile green space maintenance robot (60) by receiving at least one global positioning signal (SGa-d) of a global positioning system (PBS) by the green space maintenance robot (60), b) determining a station position (PSa-h) for at least one local positioning station (36a-h) based on the at least one determined robot position (PRa-h) and by exchanging at least one local positioning signal (SLa-h) between the green space maintenance robot (60) and the at least one positioning station (36a-h).and c) Determining a robot position (PRx) of the green space maintenance robot (60) on the area to be maintained (100) based on the at least one specified station position (PSa-h) and by exchanging at least one local position determination signal (SLx-z) between the green space maintenance robot (60) and the at least one position determination station (36a-h).