Mobile Robot Follow-Up Control Using Direct Wireless Position Signals
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Solution Overview
Problem
Existing mobile robots face challenges in efficiently following each other without server communication, particularly when changing directions, leading to collisions and disruptions in collaborative tasks like cleaning or air conditioning, and require improved methods for collision-free and stable follow-up control.
Innovation Solution
Mobile robots transmit and receive signals to determine relative positions, adjust speeds based on trajectory lengths, and perform avoidance maneuvers to maintain planned paths without server intervention, ensuring uninterrupted and visually stable follow-up even when directions change.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If robot cleaners communicate through a server using WLAN technology, then communication coverage can be extended, but communication reliability deteriorates when robots are located where server connection is difficult
Solution Approach 1:
The patent introduces direct short-range wireless communication as an intermediary communication path between master and slave robots, bypassing the server for critical position data exchange. This dual-path approach (server for general coordination, direct communication for position data) resolves the contradiction by maintaining reliability through direct links while preserving extended coverage through server infrastructure.
Solution Approach 2:
The communication system is segmented into two independent channels: server-based WLAN for general control and coordination, and direct peer-to-peer short-range wireless for position information exchange. This segmentation allows each channel to optimize for its specific function, with direct communication ensuring reliability for position data regardless of server connectivity status.
2Measurement precision
If the master robot determines position of slave robot using obstacle detection device, then position information can be obtained, but the slave robot cannot determine position of master robot
Solution Approach 1:
The master robot detects the slave robot's position using its obstacle detection device, then feeds back this relative position information to the slave robot via direct wireless communication. The slave robot uses this feedback to calculate the master robot's position relative to itself, achieving bidirectional position awareness through unidirectional detection combined with information feedback.
Solution Approach 2:
The system merges the master robot's detection capability with wireless communication functionality to create a shared position awareness system. Instead of equipping each robot with full detection capabilities, the master's detection results are combined with communication to provide both robots with mutual position information.
3Adaptability or versatility
If the head cleaner changes moving direction frequently to adapt to cleaning space shape and obstacles, then cleaning coverage is improved, but position reversal occurs between head and follower cleaners
Solution Approach 1:
The system implements dynamic role assignment where master and slave roles are not fixed but can switch automatically based on real-time relative position detection. When position reversal is detected through continuous wireless communication of position data, the robots dynamically exchange roles to maintain proper formation, allowing frequent direction changes while preserving formation stability.
Solution Approach 2:
The system changes the control parameter from fixed master-slave assignment to dynamic role assignment based on relative position. By monitoring position parameters in real-time and switching roles when reversal occurs, the system adapts to frequent direction changes while maintaining stable collaborative operation.
Data Source
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AI summary
A mobile robot according to an embodiment of the present disclosure may include a driving unit, a communication unit, and a controller configured to recognize the location of another mobile robot using the signal, and control a moving speed of the main body such that the another mobile robot follows a trajectory corresponding to the movement of the main body based on the recognized location. In addition, the controller may transmit a first signal to the another mobile robot in response to the main body approaching the another mobile robot in a direction of being close to the another mobile robot according to a change of the moving direction, and control the avoidance moving of the main body and the another mobile robot based on a second signal of the another mobile robot responding to the first signal.