Self-Direction Correction for Moving Apparatus Navigation
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Solution Overview
Problem
Current direction navigation systems in moving apparatuses, such as robots and vehicles, are affected by magnetic field interference, leading to inaccurate direction measurements and potential accidents, necessitating additional costly and complex direction measuring units like gyroscopes or optical encoders.
Innovation Solution
A method and apparatus that utilize a control unit, direction measuring units, and wheel encoders to determine if the direction measuring unit is dysfunctional by comparing first and second direction variations, allowing the control unit to switch to speed information from encoders for accurate navigation without adding new hardware, thereby enhancing navigation accuracy and reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an electronic compass is used for direction navigation, then the moving apparatus can determine its current direction, but magnetic field interference reduces measurement accuracy and reliability
Solution Approach 1:
The patent introduces an intermediary verification mechanism using wheel encoder speed information to validate direction measuring unit readings. The control unit compares direction variations from the electronic compass with those calculated from encoder speed data, using the encoder information as a mediator to detect and correct compass errors caused by magnetic field interference.
Solution Approach 2:
The system implements feedback by continuously monitoring the consistency between direction variations measured by the electronic compass and those calculated from wheel encoder speeds. When discrepancies exceed a threshold, the system generates correction signals to adjust the navigation direction, creating a closed-loop feedback mechanism that compensates for magnetic field interference effects.
2Measurement precision
If a gyroscope or optical encoder is added to form a double-feedback system, then direction navigation accuracy is improved, but device cost and complexity increase
Solution Approach 1:
The patent makes the existing wheel encoders serve a dual function: maintaining their primary role in speed control while simultaneously using them as a backup direction measurement source. This multi-functionality eliminates the need for dedicated backup direction sensors like gyroscopes or optical encoders, reducing system complexity while maintaining navigation accuracy.
Solution Approach 2:
The system performs self-verification and self-correction by using its own existing components (wheel encoders) to monitor and correct the direction measuring unit. The control unit automatically detects dysfunction and switches to alternative calculation methods without requiring external intervention or additional specialized hardware, making the system self-sufficient.
Data Source
AI summary
A moving apparatus has a body, and has at least a pair of wheels, a control unit, a direction measuring unit and at least a pair of encoders installed on the body. The direction measuring unit coupled to the control unit measures the direction of the body, and the control unit obtains a first direction variation according to the direction information. The pair of encoders coupled to the control unit measure a speed of the pair of wheels, and the control unit obtains a second direction variation according to information of the speed. The control unit compares the first and second direction variations to determine whether the direction measuring unit is temporarily dysfunction. Based on the result of comparison, the control unit applies the information provided by the direction measuring unit or the pair of encoders to obtain the current direction of the body.