Dual-Antenna Mobile Robot Tracking for Server-Free Relative Positioning
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Solution Overview
Problem
Existing autonomous mobile robot systems face challenges in determining the relative position of master and slave robots without a server connection, leading to difficulties in smooth following control due to reliance on server-mediated communication and inability to determine the relative orientation between robots.
Innovation Solution
The system employs a configuration with a first mobile robot having an antenna for signal transmission and reception, and a second mobile robot with two antennas on its front, allowing it to determine the relative position using signal intensity and phase differences, enabling accurate positioning and orientation determination without server communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the master robot transmits relative position information to the slave robot through the server using WLAN technology, then communication between robots is established, 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 mode where robots can communicate directly with each other (peer-to-peer) as an intermediary solution when server-based communication is unavailable. The slave robot uses its obstacle detection device to directly sense and determine the master robot's position without requiring server mediation, ensuring continuous operation even when server connection is lost.
Solution Approach 2:
The system dynamically changes communication parameters by switching between server-based WLAN communication and direct robot-to-robot sensing based on server availability. When server communication is disconnected, the system transitions to using the obstacle detection device for position determination, changing the operational mode to maintain reliability.
2Measurement precision
If the slave robot uses the obstacle detection device to determine the position of the master robot, then position information can be obtained without server communication, but it is impossible to determine whether the master robot is located at the front or at the rear of the slave robot
Solution Approach 1:
The patent applies asymmetry by configuring the obstacle detection device with different detection capabilities for different directions. The device can distinguish between obstacles detected at the front versus the rear of the slave robot by comparing signal characteristics or using multiple sensors positioned asymmetrically, enabling the slave robot to determine not only the position but also the orientation of the master robot.
Solution Approach 2:
The system adds an orientation dimension to the position determination by analyzing the angular or directional characteristics of the detected obstacle. Instead of only determining distance, the slave robot uses the detection device to identify the direction from which the obstacle signal comes, thereby recovering the orientation information (front/rear distinction) that would otherwise be lost.
3Measurement precision
If multiple antennas are disposed on the second mobile robot to determine relative position and orientation, then accurate positioning is achieved, but the number of components and cost increase
Solution Approach 1:
The patent makes the obstacle detection device multi-functional by using it for both obstacle avoidance (original function) and relative position/orientation determination (new function). The same sensor array that detects obstacles for navigation purposes is also utilized to triangulate the position and orientation of the master robot, eliminating the need for separate dedicated positioning sensors or multiple antennas.
Solution Approach 2:
The system merges the positioning function with the existing obstacle detection functionality. Instead of adding separate antennas or sensors solely for position determination, the patent combines these functions by using the obstacle detection device's output data for both obstacle avoidance and relative position calculation, thereby reducing the total number of components required.
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 configuration allows for accurate and cost-effective determination of relative positions between mobile robots, ensuring smooth following travel and operation even when disconnected from the server, using minimal components and reducing reliance on server communication.
Implementation Method 1
a first antenna and a second antenna disposed on a front area of a main body thereof, the first antenna and the second antenna being configured to transmit and receive signals to and from the antenna of the first mobile robot
Data Source
AI summary
The present disclosure relates to a plurality of autonomous mobile robots. A plurality of autonomous mobile robots comprise a first mobile robot including an antenna configured to transmit and receive signals, and a second mobile robot including a first antenna and a second antenna disposed on a front area of a main body thereof to transmit and receive signals to and from the antenna of the first mobile robot. The second mobile robot comprises a control unit configured to determine a relative position of the first mobile robot using the signal received by the first antenna and the second antenna.