Multi-Robot Positioning Using a Master Robot Reference
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Solution Overview
Problem
Existing autonomous working systems require complex and expensive equipment to accurately determine the position of working robots, leading to increased costs and complexity.
Innovation Solution
An autonomous working system comprising a master working robot and at least one slave working robot, where the master robot determines its position using sensing data and reference map data, and the slave robot determines its position based on the master robot's position and their relative distance and angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If expensive equipment with high complexity is used to determine the position of working robots, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent introduces a master-working robot as an intermediary that carries a positioning device and moves through the working space. This master robot acts as a mobile reference frame that other working robots can use to determine their positions relative to it, eliminating the need for each robot to have its own expensive positioning equipment.
Solution Approach 2:
The system creates a virtual copy of the positioning capability by having the master-working robot carry positioning equipment and share its position data with other robots. Instead of each robot having physical positioning hardware, they use the master robot's position information as a reference to calculate their own positions through relative distance and angle measurements.
2Measurement precision
If more expensive equipment is used to secure accuracy of task execution, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent merges the positioning function into a single master-working robot that is shared by multiple other working robots. Instead of each robot having its own positioning equipment, they combine their sensing capabilities (distance measurement, angle sensing) with the master robot's position data to achieve accurate positioning for all robots in the system.
Solution Approach 2:
The master-working robot serves multiple functions: it performs its own working tasks while simultaneously serving as a mobile positioning reference for other robots. The positioning device on the master robot is used universally by all other working robots in the system, making the equipment multi-functional and cost-effective.
3Device complexity
If a simple system configuration is used, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent replaces complex mechanical positioning systems with a combination of electronic sensing and computational methods. Other working robots use electronic sensors to measure distance and angle to the master robot, then computationally determine their positions based on the master robot's known position and the measured relative parameters.
Data Source
AI summary
An autonomous working system, an autonomous working method, and a computer readable recording medium are provided. The autonomous working system includes a master working robot and at least one slave working robot, in which the master working robot including a data receiving unit to receive information on space targeted for working, a sensing unit to sense the space targeted for working, a sensing setting unit to set a movement path of the master working robot, a sensing position, and a sensing angle of the sensing unit, and a first position determination unit to determine a position of the master working robot by comparing sensing data obtained through the sensing unit at the sensing position with reference map data, and the at least one slave working robot includes a second position determination unit that determines the position of the at least one slave working robot.