Autonomous Mobile Robot Relative Positioning Without Server Links
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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 relying on a server connection, leading to difficulties in seamless follow-up control, especially when communication with the server is disrupted.
Innovation Solution
The implementation of a system using a first mobile robot with a transmitting optical sensor and UWB modules, and a second mobile robot with receiving optical sensors and UWB anchors, allowing the second mobile robot to determine its relative position based on received UWB signals and laser light reception, enabling accurate positioning regardless of server communication state.
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 UWB communication as an intermediary mechanism that enables direct peer-to-peer communication between master and slave robots, bypassing the server intermediary. This allows robots to maintain communication and determine relative positions even when server connection is unavailable, thus improving communication reliability without significantly increasing system complexity.
Solution Approach 2:
The communication system is segmented into two independent channels: server-based WLAN communication for general coordination and direct UWB communication for critical position determination. This segmentation ensures that failure in one channel does not necessarily compromise the other, enhancing overall system reliability.
2Measurement precision
If the slave robot determines the position of the master robot using obstacle detection device and position data, then relative position can be determined, but seamless follow-up control cannot be performed because the slave robot cannot determine the position of the master robot
Solution Approach 1:
The patent combines multiple positioning approaches (obstacle detection data, UWB signal measurements, and optical sensor data) into a unified position determination system. The slave robot merges information from multiple sources to accurately determine the master robot's position and orientation, enabling seamless follow-up control while maintaining high measurement precision.
Solution Approach 2:
The system implements continuous feedback loops where the slave robot constantly monitors UWB signal characteristics and optical sensor data to track the master robot's position and orientation in real-time. This feedback mechanism enables dynamic adjustment of follow-up control parameters, ensuring seamless operation.
3Device complexity
If only obstacle detection device is used for position determination, then device complexity is reduced, but it is impossible to determine whether robots are located at the front or rear of each other
Solution Approach 1:
The patent replaces complex mechanical sensor systems with a combination of UWB radio frequency measurements and optical sensing. The UWB system provides distance and orientation data through signal propagation characteristics, while optical sensors detect laser patterns to determine relative positioning and orientation, eliminating the need for complex mechanical sensors while preserving complete spatial information.
Solution Approach 2:
The system changes the measurement parameters from direct mechanical sensing to electromagnetic and optical field measurements. By analyzing UWB signal time of flight, signal strength, and optical pattern characteristics, the system extracts complete spatial information including relative orientation without requiring complex mechanical sensor assemblies.
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 solution enables autonomous mobile robots to accurately determine their relative positions and maintain seamless follow-up control even when communication with the server is disrupted, reducing costs and improving accuracy through the use of UWB and optical sensors.
Implementation Method 1
a first mobile robot having a transmitting optical sensor for outputting laser light
Implementation Method 2
a first module for transmitting and receiving an Ultra-Wideband (UWB) signal
Data Source
AI summary
A plurality of autonomous mobile robots includes a first mobile robot and a second mobile robot. The first mobile robot is provided with a transmitting optical sensor for outputting laser light, and a first module for transmitting and receiving an Ultra-Wideband (UWB) signal. The second mobile robot is provided with a receiving optical sensor for receiving the laser light and a plurality of second modules for transmitting and receiving the UWB signal. A control unit of the second mobile robot determines a relative position of the first mobile robot based on the received UWB signal and a determination of whether the laser light is received by the optical sensor.