Moving Robot Localization Using LOS/NLOS Beacon Distance Matching
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Solution Overview
Problem
Current moving robots face challenges in accurately determining their location using RF-based location recognition, as they struggle to distinguish between Line of Sight (LOS) and Non-Line of Sight (NLOS) signals with single sensors, leading to inaccurate location tracking.
Innovation Solution
The implementation of a control method that differentiates between LOS and NLOS signals by tracking radio direction information from multiple beacons and comparing first and second distance information using sensors and cameras, allowing for precise location recognition and enhanced tracking accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If RF-based location recognition is used with single sensor, then device complexity is reduced, but location tracking accuracy deteriorates due to inability to distinguish LOS and NLOS signals
Solution Approach 1:
The patent combines multiple sensors (RF receiver, camera, distance sensor) into an integrated sensor system that works together to distinguish LOS and NLOS signals. The RF receiver, camera, and distance sensor are merged into a coordinated system where each sensor complements the others to achieve accurate location tracking that none could achieve alone.
Solution Approach 2:
The patent introduces intermediate processing steps including signal strength comparison, image analysis, and distance calculation as mediators between the raw sensor data and final location determination. These intermediaries help distinguish LOS from NLOS signals by analyzing multiple parameters before making the final location recognition decision.
2Measurement precision
If multiple sensors and beacons are deployed to distinguish LOS and NLOS signals, then location recognition accuracy is improved, but device complexity and system cost increase
Solution Approach 1:
The patent segments the location recognition process into distinct functional modules: RF signal reception and analysis, camera-based visual analysis, distance sensing, and integrated decision-making. Each module handles a specific aspect of signal analysis, making the complex system more manageable and easier to implement while maintaining high accuracy.
Solution Approach 2:
The sensor system is designed with multi-functionality where the same sensor suite (RF receiver, camera, distance sensor) serves multiple purposes: determining location, distinguishing LOS/NLOS signals, measuring distance to objects, and analyzing the environment. This universal approach reduces the need for specialized equipment for each function.
Data Source
AI summary
Disclosed is a control method of a moving robot configured to drive a work area where a plurality of beacons, the control method comprising a radio direction acquiring step of acquiring radio direction information from the beacons; a first distance tracking step of tracking first distance information between the moving robot and the beacons based on the radio direction information, after the radio direction acquiring step; a second distance tracking step of tracking second distance information between the moving robot and an object existing in the work area via a distance sensor provided in the moving robot; and a first comparison step of comparing the first distance information with the second distance information, wherein location recognition of the moving robot is performed based on the radio direction information, when the first distance is equal to the second distance based on the result of the first comparison step.