Robot Cleaner Follow-Up Control Using Relative Signal Direction
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Solution Overview
Problem
Existing mobile robot systems face challenges in efficient collaboration and collision-free navigation when following each other, particularly when changing directions, as they rely on server communication, which can be disrupted, leading to inefficiencies and potential collisions.
Innovation Solution
Implementing a communication system where mobile robots recognize each other's relative positions through signals and adjust their movements accordingly, using antennas on both sides to sense changes in signal direction, allowing for collision-free avoidance and flexible follow-up without server intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mobile robots communicate through a server to determine relative positions, then position information can be obtained, but communication may be disconnected when robots are located where it is difficult to communicate with the server
Solution Approach 1:
The patent introduces an obstacle detection device as an intermediary component that serves dual purposes: detecting obstacles and determining relative positions between robots. This eliminates the need for dedicated position detection hardware and server communication infrastructure, allowing robots to determine positions directly through shared obstacle detection data.
Solution Approach 2:
The obstacle detection device performs multiple functions: obstacle detection, relative position determination, and collision risk assessment. By making this component universal, the system reduces dependency on server communication while maintaining position awareness and improving reliability in areas with poor network coverage.
2Productivity
If the leading robot changes moving direction frequently to clean the space, then cleaning efficiency is improved, but collision risk with the following robot increases
Solution Approach 1:
The following robot continuously monitors the leading robot's moving direction changes through obstacle detection data and adjusts its own movement in real-time. When a direction change is detected, the following robot modifies its speed and trajectory to maintain safe distance, providing feedback control that prevents collisions while allowing frequent direction changes for efficient cleaning.
Solution Approach 2:
The system detects leading robot direction changes in advance using obstacle detection data before the following robot reaches the collision zone. This preliminary detection allows the following robot to proactively adjust its speed and position, preventing collisions before they occur while maintaining cleaning productivity.
3Reliability
If the following robot maintains a fixed distance from the leading robot, then collision is avoided, but follow-up efficiency decreases when the leading robot changes direction
Solution Approach 1:
The following robot dynamically adjusts its distance from the leading robot based on real-time detection of the leading robot's moving direction. When the leading robot maintains a straight path, the following robot approaches closer to improve follow-up efficiency. When a direction change is detected, the following robot increases distance to avoid collision. This dynamic adjustment optimizes both safety and efficiency.
4Reliability
If robots use obstacle detection devices to determine position, then position data can be obtained without server communication, but the slave robot cannot determine the position of the master robot in prior art
Solution Approach 1:
The patent merges the obstacle detection devices of both master and slave robots into a shared positioning system. The master robot's obstacle detection data is utilized by the slave robot for position determination, and vice versa. This combination allows mutual position recognition without server communication, improving reliability and simplifying operation.
Data Source
AI summary
A mobile robot may include a traveling unit configured to move a main body; a communication unit configured to communicate with another mobile robot that emits a signal; and a controller configured to recognize the location of the another mobile robot based on the signal, and control the moving of the another mobile robot to follow along a moving path of the main body based on the recognized location. In addition, the controller may transmit a signal corresponding to a change of the moving direction to the main body in response to the change of the moving direction, and sense a change in the receiving direction of the signal according to the change of moving direction to transmit a control command for restricting the follow-up to the another mobile robot.