Master-Slave Robot Localization with Shared Position Determination
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Solution Overview
Problem
Existing autonomous working systems require complex and expensive equipment to accurately determine the position of robots in a workspace, leading to increased costs and complexity, while aiming to maintain high accuracy and efficiency in task execution.
Innovation Solution
An autonomous working system comprising a master working robot and slave working robots, where the master robot determines its position using sensing data and reference map data, and the slave robot determines its position based on the master's position, distance, and angle, allowing for accurate task execution with a simple configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If expensive equipment with high complexity is used for position determination, then measurement precision is improved, but device complexity increases and costs increase
Solution Approach 1:
The master robot serves as an intermediary position determination device for slave robots. Instead of each slave robot having its own expensive position determination equipment, the master robot determines positions of multiple slave robots through sensing data and map comparison, acting as a shared mediator that reduces overall system complexity and cost while maintaining position determination accuracy
Solution Approach 2:
The master robot performs multiple functions: it executes tasks in the workspace and simultaneously serves as a position determination system for slave robots. This multi-functionality eliminates the need for separate position determination equipment for each slave robot, reducing device complexity and costs while maintaining measurement precision through the master robot's sensing capabilities and map comparison algorithms
2Productivity
If more equipment is used to quickly perform various tasks, then productivity is improved, but device complexity and costs increase
Solution Approach 1:
The system merges the position determination functions of multiple robots into a single master robot. Instead of equipping each slave robot with independent position determination equipment, the master robot's position determination capability is shared across all slave robots, reducing the total quantity of equipment while enabling multiple robots to operate efficiently and maintain high productivity
3Measurement precision
If each slave robot determines its position independently, then measurement precision is improved, but device complexity and costs increase
Solution Approach 1:
The master robot acts as an intermediary that centralizes position determination functionality. Instead of having multiple independent position determination devices (one per slave robot), the master robot serves as a shared mediator that determines positions of all slave robots through its sensing unit and map comparison, reducing the number of devices while maintaining position determination accuracy through centralized processing
Solution Approach 2:
The slave robots copy the position determination approach by receiving position information from the master robot rather than performing independent determination. This copying mechanism allows multiple slave robots to obtain accurate position data without each having its own position determination equipment, reducing the quantity of devices while maintaining measurement precision through information sharing
Data Source
AI summary
An autonomous working system, an autonomous working method, and a computer readable recording medium are provided. The autonomous working system includes a master working robot and at least one slave working robot, in which the master working robot including a data receiving unit to receive information on space targeted for working, a sensing unit to sense the space targeted for working, a sensing setting unit to set a movement path of the master working robot, a sensing position, and a sensing angle of the sensing unit, and a first position determination unit to determine a position of the master working robot by comparing sensing data obtained through the sensing unit at the sensing position with reference map data, and the at least one slave working robot includes a second position determination unit that determines the position of the at least one slave working robot.