Mobile Robot Distance Sensing for Tilt-Resilient Localization
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Solution Overview
Problem
Existing robots face challenges in accurately sensing distance due to ground unevenness and deceleration/acceleration, leading to unreliable location identification.
Innovation Solution
A robot design with rotatable main body, perpendicular drive wheels, and multiple distance sensors (ToF) that acquire distance information at various points and directions, combined with tilt sensing to correct for orientation changes, allowing precise location mapping without GPS or IMU.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single distance sensor is used for location identification, then the device complexity is reduced, but the measurement precision deteriorates due to ground unevenness and robot deceleration/acceleration
Solution Approach 1:
The patent divides the distance sensing function into multiple segments by placing multiple distance sensors at different positions (front, rear, left, right) on the robot body. Each sensor measures distance in a specific direction, and the processor integrates these segmented measurements to achieve accurate location identification that compensates for ground unevenness and motion effects.
2Measurement precision
If multiple distance sensors are added to improve location accuracy, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent merges the functions of multiple distance sensors into a unified location identification system. The processor combines distance measurements from multiple sensors with robot motion information to calculate location on a map, achieving high-precision positioning while managing system complexity through integrated processing.
3Reliability
If additional sensors (such as IMU or GPS) are used to compensate for tilt and motion effects, then the reliability improves, but the device complexity and production cost increase
Solution Approach 1:
The patent implements self-service by using the robot's existing drive wheel rotation information and body orientation data to compensate for tilt and motion effects in distance measurements. The processor calculates corrected distance information by integrating robot motion data with sensor measurements, eliminating the need for separate IMU or GPS sensors while maintaining high reliability.
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
Enables accurate location identification in diverse environments, reducing processing load and production costs by enhancing distance sensing reliability and reducing the need for additional sensors.
Implementation Method 1
Each of first distance sensor and the second distance sensor may include a time of flight (ToF) sensor
Data Source
AI summary
Provided is a robot including: a body rotatable about a first shaft; a first drive wheel and a second drive wheel provided in the body to be rotatable about a second shaft that is perpendicular to the first shaft; at least one distance sensor provided on the second shaft; and a processor. The processor may acquire first distance information through the at least one distance sensor at each of a plurality of different points at which the body is located as the body moves; acquire second distance information through the at least one distance sensor in each of a plurality of different directions in which the body is directed as the body rotates; and acquire, based on the first distance information and the second distance information, acquire information about a location point of the robot on a map corresponding to a space in which the robot is located.