Retractable Landmarks for AMR Localization in Dynamic Facilities

The patent applies the dynamics principle by using retractable landmarks that can change their state between deployed and retracted positions. These landmarks are mechanically actuated to extend when needed for localization and retract when not needed, transforming static reference objects into dynamic ones. This allows the system to maintain localization accuracy when required while preserving workspace flexibility and movement efficiency when the landmarks are retracted, thus resolving the contradiction between measurement precision and area occupation

The patent employs parameter changes by altering the physical state (position) of the landmarks between deployed and retracted configurations. By changing the spatial parameter of the landmarks, the system can adapt to different operational requirements - providing consistent reference data when localization accuracy is needed, and minimizing space occupation when workspace flexibility is prioritized. This dynamic parameter adjustment resolves the technical contradiction

The patent applies preliminary action by pre-deploying retractable landmarks in dynamic areas before AMR navigation begins. These landmarks are positioned in advance to provide consistent reference data, eliminating the need for frequent remapping operations. The landmarks are strategically placed beforehand to ensure reliable localization without requiring time-consuming map updates, thus resolving the contradiction between localization accuracy and time consumption

The patent uses retractable landmarks as simplified copies or representations of permanent structures, providing essential localization reference data without requiring complete remapping of the entire facility. Instead of copying the entire dynamic environment, the system uses selective landmark deployment to capture the necessary reference information, reducing time consumption while maintaining localization accuracy

The patent applies self-service by enabling the retractable landmarks to automatically deploy and retract based on detected conditions. The system monitors localization accuracy and workspace requirements, then autonomously actuates the landmarks without requiring complex external control mechanisms. This self-service capability improves localization reliability while minimizing the complexity of the actuation system by using simple, condition-based triggers

The patent employs feedback mechanisms where the system continuously monitors localization performance and workspace conditions, then uses this information to control the deployment and retraction of landmarks. The feedback loop ensures that landmarks are deployed only when needed for reliable localization, reducing unnecessary mechanical actuation and associated complexity while maintaining high localization reliability when required