Navigation Element Layout for Unique Robot Position Angles
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Solution Overview
Problem
Robotic vehicles face challenges in accurately determining their position when navigation elements have non-unique positions, leading to uncertainty in navigation, especially if they move from a unique to a non-unique position or restart, as the robot may lose its position if the positions are not distinct.
Innovation Solution
A method and system that utilize image data from an imaging element to determine the angles to visible navigation elements, identify groups of positions with similar angles, and adjust navigation elements by adding, removing, or displacing them to ensure unique positions, using a processor to analyze image data and output instructions for positioning changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If navigation elements are provided in the room to assist robot navigation, then the robot can determine its position relative to a map, but non-unique positions may cause the robot to lose its position and navigation accuracy deteriorates
Solution Approach 1:
The patent applies asymmetry by ensuring that navigation elements are positioned asymmetrically throughout the space, creating unique angular relationships from each position. This prevents symmetric equivalence where multiple positions would appear identical to the robot, thereby ensuring position uniqueness and maintaining both measurement precision and navigation reliability
Solution Approach 2:
The patent introduces an intermediary analysis system that calculates angular relationships between the robot's imaging element and navigation elements. This intermediary computational layer verifies position uniqueness by comparing measured angles against pre-stored angular data, preventing position loss and maintaining reliable navigation even in complex environments
2Measurement precision
If multiple navigation elements are provided at different positions, then position determination is improved, but the complexity of analyzing and verifying unique positions increases
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing angular relationships between all possible robot positions and navigation elements before actual navigation begins. This pre-computation creates a reference database that simplifies real-time position verification, reducing computational complexity during operation while maintaining high position determination accuracy
Solution Approach 2:
The patent segments the navigation problem into distinct computational stages: (1) pre-computation of angular relationships, (2) storage of reference data, (3) real-time angle measurement, and (4) comparison verification. This segmentation divides the complex analysis into manageable steps, reducing overall system complexity while improving position determination precision
Data Source
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AI summary
In a method or system in which an imaging element views navigation elements for e.g. navigation, the navigating elements may not be positioned optimally. Positions may exist in which the same angles exist from the imaging element to the same or similar navigating elements, whereby the positions are not unique. Navigation elements may then be repositioned, added or removed to make the positions unique.