Swarm Robot Orientation Alignment Using Onboard Motion Sensors
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Solution Overview
Problem
Coordinating the orientation and location of multiple remote-controlled devices in an environment is challenging due to the need for individual alignment with specified orientations and locations, requiring complex user coordination and synchronization.
Innovation Solution
A method and system that utilize a swarm command received by robotic devices, incorporating magnetometers, accelerometers, and gyroscopes to determine current orientation and location, and adjust positions using motors to match specified orientations and locations, enabling synchronized orientation and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple remote-controlled devices are coordinated individually by separate controllers, then each device can be controlled independently, but the coordination complexity and user effort increase significantly
Solution Approach 1:
The patent merges multiple individual control operations into a single swarm command that is broadcast to all robotic devices. Instead of requiring separate controllers for each device, one controller can issue a unified command that all devices receive and execute autonomously, reducing user coordination effort while maintaining individual device control capabilities
Solution Approach 2:
Each robotic device autonomously determines its own orientation using onboard sensors (magnetometer, accelerometer, gyroscope) and automatically adjusts its position and orientation to match the specified target values. This self-service approach eliminates the need for continuous manual coordination between multiple controllers and devices
2Measurement precision
If robotic devices use sensors to determine current orientation and location, then positioning accuracy improves, but the device complexity and cost increase
Solution Approach 1:
The patent employs a multi-functional sensor suite where the magnetometer, accelerometer, and gyroscope work together to provide both orientation determination and location tracking capabilities. These same sensors also enable the device to understand its spatial relationship to the environment and other devices, eliminating the need for separate specialized sensors for each function
Solution Approach 2:
The patent replaces complex mechanical positioning systems with electronic sensor-based orientation determination. Instead of using mechanical encoders or physical reference markers, the system uses magnetic field sensing, acceleration measurement, and gyroscopic data to calculate precise orientation and location information
3Productivity
If robotic devices automatically adjust their positions to match specified orientations and locations, then synchronization efficiency improves, but the response time and coordination overhead increase
Solution Approach 1:
The patent calculates the difference between current and target orientation/values before execution, allowing each device to plan its adjustment trajectory in advance. This preliminary calculation enables more efficient path planning and reduces the time required to reach the target state by avoiding reactive, step-by-step adjustments
Solution Approach 2:
The system continuously monitors the difference between current and target orientation/values and uses this feedback to adjust the adjustment process. Each device autonomously determines when it has sufficiently matched the target values and can proceed with the swarm action, optimizing the timing without requiring centralized coordination overhead
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
Enables efficient synchronization of multiple robotic devices to achieve coordinated movements and formations by automatically adjusting their orientations and locations based on received commands, simplifying the control process and enhancing coordination among devices.
Implementation Method 1
determine a current orientation of the given robotic device in an environment, based at least in part on a magnetometer indicating an alignment deviation of the given robotic device from a magnetic field direction
Implementation Method 2
an accelerometer and a gyroscope indicating an alignment of the given robotic device relative to gravity
Data Source
AI summary
Systems, methods and articles of manufacture for synchronized robot orientation are described herein. A magnetometer, gyroscope, and accelerometer in a remotely controlled device are used to determine a current orientation of that device, and a command with a specified orientation or location are set to several such devices. The remotely controlled devices self-align based on the specified orientation/location, and when in position, receive swarm commands to perform actions as a group of devices in coordination with one another.