Rotating Beacon Phase Encoding for Mobile Robot Positioning
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Solution Overview
Problem
Conventional robot systems using beacons to determine the location of mobile robots face challenges in precision due to analog signal sensitivity and limited movable areas, and are costly, especially when using multiple transmitters and image processing methods.
Innovation Solution
A robot system that incorporates a beacon with a rotating transmitter part and an encoder adding phase information to the light, allowing the mobile robot to determine its location based on phase information received, reducing the need for multiple transmitters and enhancing precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple transmitters are used to improve location determination precision, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies the dynamics principle by rotating a single transmitter to dynamically scan multiple directions sequentially. The transmitter rotates about a vertical axis to emit light in different directions at different times, allowing one transmitter to perform the function of multiple fixed transmitters. This dynamic approach maintains measurement precision while reducing device complexity and cost.
Solution Approach 2:
The patent implements periodic action through the rotational movement of the transmitter, which periodically scans different directions. The encoder generates phase information at regular intervals during rotation, creating periodic signals that are used for location determination. This periodic scanning allows a single transmitter to cover multiple spatial zones that would otherwise require multiple simultaneous transmitters.
2Measurement precision
If analog signals are used for light transmission, then device complexity is reduced, but measurement precision deteriorates due to signal sensitivity to environmental properties
Solution Approach 1:
The patent changes the parameter of light transmission from analog intensity modulation to digital phase modulation. Instead of varying light intensity to encode information, the system uses phase-shift keying where the light phase is shifted according to binary data (0 or 1). This parameter change makes the signal resistant to environmental interference while maintaining relatively simple device complexity.
Solution Approach 2:
The patent replaces the mechanical/analog light intensity control system with an optical modulation system based on phase encoding. The encoder converts binary data into phase shifts of the light wave, substituting mechanical intensity adjustment with optical phase manipulation. This substitution improves measurement precision by making the signal less sensitive to environmental factors while keeping the overall system complexity manageable.
3Area of stationary object
If light travels in straight lines from fixed transmitters, then device complexity is minimized, but measurement precision is limited to areas aligned with transmitters
Solution Approach 1:
The patent applies dynamics by making the transmitter rotational rather than fixed. The transmitter rotates about a vertical axis, dynamically changing its emission direction over time. This allows a single fixed transmitter to cover a much larger area by sequentially scanning different directions, effectively expanding the movable area without increasing the number of transmitters or complicating the overall configuration.
Solution Approach 2:
The rotational scanning of the transmitter creates periodic coverage of different spatial zones. As the transmitter rotates, it periodically illuminates different areas, allowing the mobile robot to be located in any area within the rotation coverage. This periodic action expands the effective service area from a narrow aligned region to a much broader zone without requiring multiple fixed transmitters.
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 system achieves precise location determination of mobile robots regardless of environmental conditions and reduces costs by utilizing fewer transmitters, while improving the accuracy and range of location identification.
Implementation Method 1
The beacon 100 includes a plurality of transmitters 101 placed at predetermined positions emitting light such as an infrared ray, an electromagnetic wave, or the like, which travels in a straight line.
Implementation Method 2
a rotation driving part to rotate the transmitting part about a predetermined axis
Implementation Method 3
an encoder to add phase information regarding rotation of the transmitting part by the rotation driving part with respect to a reference direction to the light
Implementation Method 4
The receiver 111 receives the light emitted from the transmitter 101 of the beacon 100, and outputs information based on intensity of the received light to the controller.
Data Source
AI summary
A robot system including a beacon provided with a transmitting part to transmit a light for location determination, and a mobile robot provided with a receiving part to receive the light. The robot system further includes a rotation driving part to rotate the transmitting part about a predetermined axis; an encoder to add phase information regarding how much the transmitting part is rotated by the rotation driving part with respect to a reference direction to the light; and a location determiner to determine a location of the mobile robot based on the phase information of the light received by the receiving part. Accordingly, a robot system is provided, which can precisely determine a location of a mobile robot regardless of external environmental conditions, distance, and reduction of cost by using a few transmitters.