Mobile Robot Positioning via Pilot Signal Triangulation

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Solution Overview

Problem

Existing cleaning robots face high manufacturing costs due to the use of sophisticated camera and laser devices, and accumulate path errors due to motor inaccuracy and wheel wear, leading to imprecise movement.

Innovation Solution

A positioning method using two stationary positioning devices that transmit pilot signals, allowing the mobile robot to determine its initial position by detecting signal strength and angular orientation, thereby reducing path errors through calibration.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If camera device and laser device are used for environment exploration, then positioning accuracy is improved, but manufacturing cost increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidmanufacturing cost

Core Design Contradiction:

Measurement precisionVSEase of manufacture

Solution Approach 1:

The patent replaces expensive camera and laser devices with low-cost positioning devices that transmit pilot signals. The mobile robot uses signal detection and triangulation to achieve positioning without sophisticated electronic products, significantly reducing manufacturing cost while maintaining positioning capability.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Solution Approach 2:

The patent substitutes optical and laser-based measurement systems with an electromagnetic signal-based positioning system. Instead of using camera imaging or laser ranging, the system uses pilot signal transmission and angular orientation detection to determine position, replacing complex mechanical and optical systems with a simpler signal processing approach.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If high-end processor is used for image comparison, then positioning accuracy is improved, but manufacturing cost increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidmanufacturing cost

Core Design Contradiction:

Measurement precisionVSEase of manufacture

Solution Approach 1:

The patent eliminates the need for high-end processors by replacing image comparison algorithms with signal strength and angular orientation calculations. The positioning is achieved through mathematical computation of pilot signal characteristics rather than complex image processing, reducing computational requirements and processor cost.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

3Adaptability or versatility

If motor speed adjustment is used for terrain adaptation, then mobility is improved, but path error accumulates

Engineering Contradiction:

Improveterrain adaptabilityVSAvoidpath accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent implements a feedback mechanism where the mobile robot continuously determines its position by detecting pilot signals from stationary positioning devices. This real-time position feedback allows the robot to correct path deviations caused by motor inaccuracies and wheel wear, maintaining path accuracy despite terrain adaptation adjustments.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces mechanical odometry-based positioning with electromagnetic signal-based positioning. Instead of relying on wheel rotation and motor control accuracy to track position, the system uses pilot signal detection to directly measure position, eliminating cumulative path errors from mechanical imperfections.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 method effectively reduces path errors and lowers manufacturing costs by using low-cost ZigBee transmission modules and efficient signal detection for precise positioning and angle calibration.

Implementation Method 1

transmitting, by a first positioning device that is disposed at a first stationary location relative to the mobile robot, a first pilot signal; transmitting, by a second positioning device that is disposed at a second stationary location relative to the mobile robot and the first positioning device, a second pilot signal

Methodology Applied

Scientific EffectElectromagnetic signal transmission and detection: Electromagnetic Induction

Data Source

PatentUS9423798B2Method for positioning a mobile robot and a mobile robot implementing the same

Publication Date: 2016.08.23 LITE ON ELECTRONICS (GUANGZHOU) LTD

AI summary

First and second positioning devices disposed at first and second stationary locations transmit first and second pilot signals, respectively. Transmission coverages of the first and second pilot signals have an area of overlap. When a mobile robot moves to the area of overlap, the mobile robot determines first angular orientation information between the mobile robot and the first positioning device, and second angular orientation information between the mobile robot and the second positioning device. The mobile robot then determines an initial position of the mobile robot based on the first stationary location, the second stationary location, the first angular orientation information, and the second angular orientation information.