Photoelectric Scanning for Indoor Robot Positioning
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Solution Overview
Problem
Existing methods for indoor mobile robot position and posture measurement, such as dead reckoning and absolute positioning, face challenges in accuracy and environmental requirements, with dead reckoning experiencing error accumulation and absolute positioning needing multiple base stations, which complicates setup and increases costs.
Innovation Solution
A photoelectric scanning system using a mobile robot equipped with a laser transmitter and multiple receivers, where signal processors calculate precise coordinates and posture angles, allowing for accurate position and posture determination without the need for multiple base stations, utilizing a single mobile measuring base station and guiding beacons for high-speed laser scanning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If dead reckoning method is used to measure robot position and posture, then the robot can independently measure data without peripheral equipment, but measurement errors will be magnified with time accumulation causing data drift
Solution Approach 1:
The patent introduces a laser transmitter as an intermediary device that projects laser lines into the workspace. The robot carries receivers that detect these laser lines to determine position and posture. This intermediary laser reference system allows the robot to independently measure its own position without relying on external base stations, while maintaining high accuracy through optical reference rather than integration over time.
2Measurement precision
If absolute positioning method with multiple transmitting base stations is used, then high accuracy and stability are achieved, but the requirements to the in-situ environment are high and setup is complicated
Solution Approach 1:
The patent extracts the reference function from multiple stationary base stations and concentrates it into a single mobile laser transmitter. Instead of requiring multiple fixed transmitting stations distributed throughout the workspace, the system uses one mobile transmitter that carries the reference laser source. This reduces the number of devices from multiple base stations to just one transmitter plus receivers on the robot, significantly simplifying setup while maintaining measurement accuracy.
3Area of stationary object
If multiple transmitting base stations are installed to ensure wide work area coverage, then measurement range is guaranteed, but the requirements to the in-situ environment are high
Solution Approach 1:
The patent transforms the static reference system of multiple fixed base stations into a dynamic mobile laser transmitter that moves with the robot. The transmitter is mounted on or moves with the robot platform, carrying the laser reference source dynamically throughout the workspace. This dynamic approach allows the reference frame to move with the measurement target, enabling wide area coverage without requiring multiple fixed installations, thereby reducing environmental requirements and installation complexity.
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
The system achieves high accuracy with measurement errors less than 3 mm and posture angle errors less than 0.1°, simplifying setup and reducing environmental impact, while allowing 360-degree detection without the need for extensive base station installation.
Implementation Method 1
indoor mobile robot position and posture measurement system based on photoelectric scanning
Data Source
AI summary
An indoor mobile robot position and posture measurement system based on photoelectric scanning and the measurement method thereof, the measurement system includes: a mobile robot (1) which is arranged with a laser transmitter (2), the peripheral of the laser transmitter (2) is provided with no less than three receivers (3) for receiving the light signals emitted by the laser transmitter (2), and at least one signal processor (4) connected to the receivers (3) for processing signals received by the receivers (3) to determine precise coordinates of the receivers in laser transmitter coordinate system, and a terminal computer (5) wirelessly connected with the signal processor (4) to determine the posture angle and the position of the mobile robot through the distances between the laser transmitter (2) and each receiver (3). Without arranging multiple transmitters when measuring and performing tedious global orientation, the operators by using the measurement system and the measurement method of the present invention may measure the 3D position and posture of the indoor mobile robot in real time by multiple guidance signals consisting of photoelectric receiver and a high-speed laser scanning turntable fixed on the mobile robot.