Robot Navigation Using Two UWB Base Stations and Odometer Fusion
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Solution Overview
Problem
Current robot movement control methods, particularly UWB base station navigation, are limited by the requirement for multiple base stations, which is not feasible in all environments, and existing solutions like laser radar-based and visual navigation have limitations in specific scenarios such as large, empty spaces with reflective materials or where deploying multiple base stations is not possible.
Innovation Solution
A robot movement control method using at least two UWB base stations, where a UWB tag and odometer are employed to calculate distances and coordinates, combining these with height information to generate an internal coordinate system, allowing the robot to navigate accurately even with fewer base stations by integrating localization data from the odometer to correct for potential drift, and enabling obstacle avoidance using sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If UWB base station navigation is used, then navigation capability is provided, but at least four UWB base stations are required which is not feasible in all environments
Solution Approach 1:
The patent applies partial action by using only two UWB base stations instead of the conventional four, combining them with odometer localization data to achieve sufficient navigation accuracy. This reduces the number of required base stations while maintaining navigation functionality through data fusion with complementary sensing systems.
2Adaptability or versatility
If laser radar-based navigation is used, then navigation is provided, but application scenes are greatly limited by radar performance
Solution Approach 1:
The patent creates a universal navigation solution that works across diverse environments by combining UWB base station localization with odometer data fusion. This multi-functional approach replaces the environment-specific laser radar system with a more adaptable hybrid system that functions reliably in large spaces, reflective environments, and areas where laser radar performance degrades.
3Adaptability or versatility
If visual navigation is used, then navigation is provided, but it is not yet mature and is limited by conditions of use
Solution Approach 1:
The patent implements feedback through data fusion of UWB base station localization with odometer measurements. The system continuously compares and integrates data from both sources, using the odometer's continuous position tracking to complement the UWB's periodic location updates, creating a more reliable navigation system that compensates for individual sensor limitations.
4Area of stationary object
If UWB base station navigation is used in large and empty scenes, then navigation is provided, but at least four UWB base stations are required
Solution Approach 1:
The patent applies partial action by demonstrating that two UWB base stations are sufficient for large and empty scenes when combined with odometer localization. This reduces the infrastructure requirement from four base stations to two, making UWB navigation more feasible in large spaces while maintaining adequate positioning accuracy through complementary sensing.
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
This method enables accurate robot navigation and movement control with fewer UWB base stations, improving localization accuracy and flexibility by combining UWB base station localization with odometer data, and allowing the robot to adapt to various environments, including those with obstacles.
Implementation Method 1
calculating a distance between the robot and each UWB base station by ranging using a UWB tag provided on the robot to communicate with the at least two UWB base stations
Data Source
AI summary
A robot movement control method and apparatus as well as a robot using the same are provided. The method includes: calculating a distance between a robot and a Ultrawide Band (UWB) base station; configuring an internal coordinate system according to a preset position of the UWB base station, and calculating a coordinate of the robot in the internal coordinate system according to a distance between the UWB base station and the robot; combining the coordinate of the robot in the internal coordinate system with localization information of an odometer provided on the robot to obtain a combined robot coordinate; and controlling the robot to move in accordance with a preset target position according to the combined robot coordinate. In such manner, UWB base station localization can be used to control the movement of a robot in a limited scene.