Moving robot, method for controlling the same, and terminal
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Solution Overview
Problem
Existing methods for restricting the travel of moving robots, such as lawn mower robots, face challenges with boundary setting due to the need for laying wires underground, high costs of ancillary devices, and inaccuracies in GPS-based positioning, especially in outdoor areas with varying terrain and uneven surfaces.
Innovation Solution
A moving robot system that uses Ultra-Wideband (UWB) communication technology with a reference anchor for height error correction, allowing for precise position calculation and boundary setting without measuring ground heights, and enabling quick correction of position errors caused by differences in anchor heights.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If GPS-based positioning is used for boundary setting, then positioning coverage is improved, but positioning precision deteriorates (average error of 2-5m)
Solution Approach 1:
The system segments the positioning function by using multiple anchors distributed across the area instead of relying on a single GPS satellite system. Each anchor provides localized positioning references, and the robot calculates its position by triangulating signals from multiple anchors, thereby achieving both wide coverage and high precision (error range of 30cm or less).
Solution Approach 2:
The patent introduces anchors as intermediary devices between the robot and the positioning system. These anchors receive signals from satellites and retransmit them to the robot, enabling the robot to calculate its position relative to known anchor locations. This intermediary approach transforms the GPS system into a high-precision relative positioning system while maintaining wide coverage.
2Measurement precision
If sensors such as DGPS, cameras, LiDAR, and Radars are used to reduce positioning error, then positioning precision is improved, but device complexity and cost increase
Solution Approach 1:
The robot uses its existing communication unit to both transmit and receive positioning signals, eliminating the need for separate dedicated sensors. The same UWB module that enables communication also facilitates precise positioning through time-of-flight measurements, allowing the system to achieve high positioning precision without adding complex external sensors.
Solution Approach 2:
The communication unit serves multiple functions: it enables both communication between the robot and anchors and simultaneously provides positioning capabilities through signal timing measurements. This multi-functionality eliminates the need for separate positioning sensors, reducing device complexity while maintaining high positioning precision.
3Adaptability or versatility
If UWB anchors are installed at different heights on uneven terrain, then adaptability to outdoor terrain is improved, but positioning precision deteriorates due to height errors
Solution Approach 1:
The system transitions from two-dimensional positioning (ignoring height) to three-dimensional positioning by incorporating vertical height information into the coordinate system. Each anchor's height is recorded as a z-coordinate, and the robot calculates its position in 3D space, thereby eliminating positioning errors caused by height differences while maintaining adaptability to uneven terrain.
Solution Approach 2:
The system performs preliminary measurement and recording of each anchor's installation height during the setup phase. This advance information about anchor heights is stored in the robot's memory and used during positioning calculations to compensate for height differences, thereby preventing positioning errors before they occur while allowing anchors to be installed at various heights on uneven terrain.
4Measurement precision
If wires are laid under the ground for boundary setting, then boundary definition precision is improved, but ease of operation and time consumption deteriorate
Solution Approach 1:
The patent replaces the mechanical wire-based boundary system with a wireless electromagnetic signal-based system. Instead of physically laying wires to define boundaries, the system uses UWB signals transmitted between anchors and the robot to establish virtual boundaries. This substitution eliminates the labor-intensive wire-laying process while maintaining precise boundary definition through signal-based position detection.
Data Source
Figure 1
Figure 2A~2B
Figure 2C
AI summary
The present disclosure relates to a moving robot, a controlling method thereof, and a terminal. A moving robot according to the present disclosure includes a traveling unit to move a main body, a communication unit to communicate with a plurality of location information transmitter installed within an area to transmit signals, a memory to store coordinates information regarding positions of the location information transmitters, and a control unit to set a virtual boundary based on location information calculated based on the signals, and control the traveling unit so that the main body moves without departing from the boundary, wherein the control unit sets a reference location information transmitter among the location information transmitters, corrects height error of the coordinates information based on height differences between the reference location information transmitter and each location information transmitter, and corrects a current position of the main body based on the corrected coordinates information.