Rotating Single Sensor Robot Localization
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Solution Overview
Problem
Existing moving robots require multiple supersonic sensors for localization, increasing manufacturing costs and design restrictions, and can experience errors due to varying sensor sensitivities.
Innovation Solution
A method using a single receiving sensor to localize a moving robot by rotating it to pass multiple measurement points, measuring distances and rotational angles, and calculating relative locations using these values and the sensor's circular radius.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple supersonic sensors are mounted on the moving robot for localization, then localization accuracy is improved, but manufacturing cost increases and device complexity increases
Solution Approach 1:
The patent transitions from a static sensor arrangement to a dynamic rotational measurement approach. By rotating the sensor around the robot's center and measuring distances at multiple angular positions, the system achieves accurate localization using a single sensor instead of multiple fixed sensors, thereby reducing device complexity while maintaining measurement precision.
Solution Approach 2:
The patent performs preliminary rotational movement of the sensor to multiple measurement points before final localization calculation. The sensor rotates to predetermined angular positions (e.g., 0°, 120°, 240°) and collects distance data at each position, which is then used to calculate the transmitter's location. This preliminary action enables accurate localization with a single sensor.
2Measurement precision
If multiple supersonic sensors are mounted on the moving robot for localization, then localization accuracy is improved, but manufacturing cost increases
Solution Approach 1:
The single supersonic sensor performs multiple measurement functions by rotating to different positions. Instead of requiring separate sensors for each measurement point, the same sensor is reused at multiple angular positions during rotation, achieving the localization function with minimal hardware and reducing manufacturing cost.
Solution Approach 2:
The patent creates virtual copies of measurement positions through rotational movement rather than physical copies of sensors. The sensor is physically moved to different angular positions (creating positional copies) to gather data from multiple points, eliminating the need for multiple physical sensors and reducing manufacturing cost.
3Area of stationary object
If multiple supersonic sensors with different sensitivities are used, then coverage area is improved, but localization accuracy deteriorates due to sensitivity variations
Solution Approach 1:
The patent uses a single homogeneous sensor with consistent sensitivity characteristics throughout the measurement process. By avoiding multiple sensors with potentially different sensitivities, the system eliminates calibration issues and sensitivity variations, ensuring homogeneous measurement quality across all angular positions while maintaining wide coverage through rotational movement.
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 approach reduces manufacturing costs and minimizes localization errors, allowing for accurate positioning of the moving robot relative to a transmitter or user using a single sensor.
Implementation Method 1
a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter
Data Source
AI summary
Provided are an apparatus allowing a moving robot to localize a user, or localizing the moving robot from a fixed location, and a method and medium thereof. The apparatus includes a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot, a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points, a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points, and a location calculator to calculate relative locations using input values of the measured distances, the measured rotational angles, and the radius of a circle determined by the sensor resulting from the rotation of the moving robot.