Mobile Robot Angle Correction Using Obstacle Edge Coordinate System
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Solution Overview
Problem
Existing mobile robots experience cumulative errors in angle measurement due to inertial navigation, affecting recharging and coverage efficiency, and existing solutions require additional costly components and complex control systems.
Innovation Solution
A mobile robot uses a long straight line at an obstacle's edge to establish a right-angle coordinate system, correcting its walking angle to align with the corresponding axis direction, employing sensors like infrared and gyroscope to detect and adjust its path efficiently without additional hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inertial navigation is used for angle measurement, then the mobile robot can operate without additional hardware, but cumulative errors cause inaccurate angle measurement affecting recharging and coverage efficiency
Solution Approach 1:
The patent implements feedback by detecting the mobile robot's position relative to obstacle edges using sensors, calculating deviation angles from the coordinate system, and correcting the walking angle based on this feedback to eliminate cumulative errors from inertial navigation
Solution Approach 2:
The patent introduces an intermediary coordinate system established based on long straight lines at obstacle edges. This coordinate system serves as a reference framework that mediates between the inertial navigation system and the actual path, enabling angle correction without requiring additional positioning hardware
2Measurement precision
If a camera or beacons are installed to correct the mobile robot's angle, then angle measurement accuracy is improved, but the cost and control complexity increase
Solution Approach 1:
The patent applies self-service by using the mobile robot's existing sensors to detect obstacle edges and automatically establish a coordinate system for angle correction. The system uses itself and the environment (obstacles) rather than requiring external cameras or beacon infrastructure
Solution Approach 2:
The patent creates a virtual coordinate system as a copy of the physical environment's geometric features (long straight lines at obstacle edges). This virtual reference framework provides angle correction functionality without requiring physical markers or additional hardware
3Manufacturing precision
If the mobile robot continuously corrects its walking angle using obstacle edge detection, then path accuracy is improved, but the control process becomes more complex
Solution Approach 1:
The patent performs preliminary action by establishing the coordinate system based on the first detected long straight line at an obstacle edge. This pre-established reference framework simplifies subsequent angle corrections, as the robot only needs to compare its position against this pre-defined coordinate system rather than continuously recalculating references
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 method provides accurate angle correction with low costs and simplified control, enhancing the robot's path planning and operational efficiency in the working area.
Implementation Method 1
employing sensors like infrared and gyroscope to detect and adjust its path efficiently
Implementation Method 2
employing sensors like infrared and gyroscope to detect and adjust its path efficiently
Data Source
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AI summary
An angle correction method of a mobile robot in a working area, comprising: obtaining a long straight line at an edge of an obstacle first found by the mobile robot; establishing a right-angle coordinate system based on the long straight line; obtaining a walking angle of the mobile robot when it finds a long straight line at an edge of an obstacle again; based on the walking angle and the right-angle coordinate system, correcting the walking angle to a corresponding axis direction. Also disclosed is a mobile robot that can perform angle correction.