Plurality of autonomous mobile robots and controlling method for the same
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Solution Overview
Problem
Existing mobile robot systems face challenges in determining the relative positions of multiple robots without relying on server communication, which can be disrupted, and in efficiently coordinating their movements for optimized cleaning operations.
Innovation Solution
The system employs a first mobile robot with an antenna and a second mobile robot equipped with two antennas symmetrically positioned to determine relative positions using signal intensity and phase differences, allowing accurate positioning 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 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 slave robot uses obstacle detection device to determine position, then position data can be obtained, 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 employs asymmetric antenna placement on the slave robot, with different antenna configurations for front and rear detection. This asymmetry allows the robot to distinguish directional information (front vs. rear) that would otherwise be lost in symmetric obstacle detection data.
Solution Approach 2:
The patent adds a directional dimension to position determination by using antenna phase difference information. This transforms the position data from simple distance measurement to include angular/directional information, enabling front-rear distinction.
3Productivity
If multiple mobile robots perform cleaning in a collaborating manner, then cleaning efficiency is improved, but coordination and control complexity increases
Solution Approach 1:
The patent implements feedback mechanisms where robots continuously exchange position and status information. The slave robot monitors master robot position and adjusts its following behavior accordingly, while the master robot receives feedback about slave robot status. This feedback loop enables coordinated multi-robot cleaning without excessive complexity.
Solution Approach 2:
The slave robot autonomously determines its position and adjusts its following control based on received signals, without requiring complex centralized coordination. Each robot serves itself by independently processing position information and making control decisions, simplifying the overall coordination system.
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 approach enables accurate determination of relative positions between mobile robots, facilitating smooth following control and optimized cleaning operations with reduced costs and improved accuracy using minimal components.
Implementation Method 1
a first mobile robot having an antenna configured to transmit and receive a signal, and a second mobile robot having 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
Implementation Method 2
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
Implementation Method 3
determine a relative position of the first mobile robot using the signal received by the first antenna and the second antenna
Data Source
Figure 1~2
Figure 3~4
Figure 5a
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.