Robot Position Correction via Multi-Sensor Fusion
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Solution Overview
Problem
Conventional position recognition technologies for moving robots, such as encoders and gyroscopes, suffer from accumulating position errors due to slipping, collisions, and other abnormal movement states, particularly when passing obstacles or being kidnapped.
Innovation Solution
A moving apparatus utilizing a sensing unit that combines data from accelerometers, encoders, and gyroscopes to determine abnormal movement states and correct position information, including a state determination unit and a position information calculation unit to generate action control signals for accurate navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an encoder is used for position recognition, then the robot can track its position during movement, but position errors accumulate due to slipping and abnormal movements
Solution Approach 1:
The patent combines multiple sensing units (encoder, gyroscope, accelerometer) into an integrated navigation system. The encoder provides primary position tracking, while the gyroscope detects rotational movements and the accelerometer detects linear accelerations and abnormal states. By merging these sensing capabilities, the system achieves more reliable position recognition that compensates for the limitations of individual sensors during abnormal movements.
Solution Approach 2:
The system implements feedback mechanisms where the state determination unit continuously monitors data from all sensing units to detect abnormal movement states. When abnormalities are detected, the position information calculation unit applies correction algorithms based on feedback from the gyroscope and accelerometer data, thereby compensating for encoder errors and maintaining position accuracy.
2Measurement precision
If a gyroscope is used for position recognition, then the robot can detect rotation and maintain orientation, but position errors worsen when the robot passes low obstacles
Solution Approach 1:
The accelerometer serves as an intermediary sensor that detects linear accelerations and vertical movements during obstacle passage. When the robot passes a low obstacle, the accelerometer detects the vertical acceleration and state changes, providing complementary information that helps the position information calculation unit correct gyroscope-based position errors caused by unexpected rotations or movements during obstacle interaction.
3Ease of operation
If conventional sensing units are used, then the robot can navigate in normal conditions, but the robot cannot recognize its position when kidnapped or subjected to abnormal forces
Solution Approach 1:
The system dynamically adjusts its position recognition strategy based on real-time detection of movement states. The state determination unit continuously evaluates data from the accelerometer and gyroscope to identify kidnapping conditions (sudden, unnatural accelerations or movements). When kidnapping is detected, the system switches to an alternative position recognition mode that relies more heavily on the accelerometer data and correction algorithms, rather than relying solely on encoder feedback which becomes invalid during kidnapping.
Data Source
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AI summary
Provided are a moving apparatus (100) and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.