Plurality of autonomous mobile robots and controlling method for the same
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Solution Overview
Problem
Existing autonomous mobile robot systems face challenges in determining the relative position and direction of a master robot, leading to seamless follow-up control issues, especially when communication with a server is disrupted.
Innovation Solution
The system includes a mobile robot with a traveling unit, communication unit, sensing unit, and control unit that rotates to detect and align with another robot within a detection area, using UWB signals to determine distance and angle, allowing for accurate positioning and direction determination, enabling seamless follow-up control regardless of server communication status.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the master robot and slave robot communicate only through a server, then centralized control is achieved, but communication may be disconnected when robots are located where it is difficult to communicate with the server
Solution Approach 1:
The patent introduces a dual communication path: robots can communicate through the server (intermediary) when available, or directly peer-to-peer when server connection is lost. This intermediary approach allows flexible switching between centralized and decentralized communication modes, maintaining reliability while managing complexity.
Solution Approach 2:
The communication architecture dynamically switches between server-mediated communication and direct robot-to-robot communication based on server availability. This dynamic adaptation resolves the contradiction by adjusting the communication path according to environmental conditions.
2Measurement precision
If the master robot determines relative position using obstacle detection device, then position data can be obtained, but the slave robot cannot determine the position of the master robot
Solution Approach 1:
The patent combines the sensing capabilities of both master and slave robots, allowing each robot to independently detect the other. This merging of detection functions ensures that both robots have access to relative position information, eliminating the one-way information flow limitation.
Solution Approach 2:
Instead of relying solely on the master robot's detection, the system implements detection capabilities on both robots (excessive action). This redundancy ensures that position information is available to both parties, resolving the information asymmetry problem.
3Loss of information
If relative position information is transmitted through the server, then the slave robot can receive position data, but seamless follow-up control cannot be performed when server communication is disconnected
Solution Approach 1:
The system uses the server as an optional intermediary for information transmission but provides a direct communication path as backup. When the server intermediary is unavailable, robots exchange position information directly, ensuring control reliability without complete server dependency.
Solution Approach 2:
The robots establish direct communication capabilities in advance (preliminary action) so that when server communication fails, they can immediately switch to peer-to-peer information exchange without interruption to follow-up control.
4Measurement precision
If the detection area encompasses a predetermined projected angle with respect to the front of the main body, then the sensing unit can detect another robot, but the robot must rotate the main body to keep the other robot within the detection area
Solution Approach 1:
The patent expands the detection system from a single fixed-angle sensor to a multi-dimensional sensing approach, where multiple sensors or a rotating sensor array covers a wider angular range. This dimensional expansion reduces the need for frequent rotations while maintaining detection precision.
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
Enables accurate determination of relative positions and directions between robots, ensuring smooth and failure-free follow-up control, even when robots move out of detection areas, and optimizes starting scenarios for coordinated travel.
Implementation Method 1
a sensing unit for sensing the other mobile robot existing in a detection area encompassing a predetermined projected angle with respect to the front of a main body of the mobile robot
Implementation Method 2
using UWB signals to determine distance and angle
Data Source
AI summary
A mobile robot includes a communication unit that communicates with another mobile robot, a sensing unit for sensing the other mobile robot existing in a detection area encompassing a predetermined projected angle with respect to the front of a main body of the mobile robot, and a control unit configured for rotating the main body so that the other mobile robot is sensed in the detection area. The communication unit transmits a control signal configured to cause the other mobile robot to travel in a linear direction by a predetermined distance, to the other mobile robot when the other mobile robot is present in the detection area.