UWB and Odometry Fusion for Single-Module Object-Following Robots
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Solution Overview
Problem
Existing UWB-based user-following robots require four anchors and careful antenna installation, making them unsuitable for micro-robots and environments with obstacles, limiting their ability to effectively follow objects.
Innovation Solution
A method and apparatus that enable an object following robot to estimate a relative position using a single ultra-wideband (UWB) module and odometry data, eliminating the need for a UWB anchor and tag system, and allowing the robot to follow an object or be followed by another robot, utilizing a single-sided two-way ranging (SS-TWR) method and extended Kalman filter for position correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If four UWB anchors are used for object following, then distance measurement accuracy is improved, but device complexity and space requirements increase
Solution Approach 1:
The patent extracts the anchor functionality from the traditional four-anchor UWB system and integrates it into a single UWB module that combines both anchor and tag capabilities. This reduces the system from requiring four separate anchor devices to just one integrated module, significantly simplifying the system while maintaining measurement accuracy through the fusion of UWB distance data and odometry information.
Solution Approach 2:
The patent creates a universal UWB module that can function both as an anchor and as a tag, eliminating the need for separate anchor and tag systems. This multi-functional module allows the robot to follow objects using a single device rather than requiring four anchors and multiple tags, reducing system complexity while preserving the core functionality of accurate distance measurement and object tracking.
2Measurement precision
If four UWB anchors are installed, then spatial recognition is improved, but ease of operation and installation become more difficult
Solution Approach 1:
The patent removes the requirement for four separate anchor installations and extracts the essential spatial recognition functionality into a single integrated UWB module. This eliminates the complex installation process of positioning and configuring four anchors while maintaining the ability to achieve accurate spatial recognition through the combination of UWB ranging and odometry data fusion.
Solution Approach 2:
The system enables the robot to perform its own positioning and object tracking using the integrated UWB module and onboard odometry sensors, without requiring external anchor infrastructure. The robot self-calibrates and self-locates by fusing data from its own sensors, eliminating the need for careful installation and configuration of external anchor systems.
3Reliability
If UWB antennas are installed carefully to avoid obstacle blocking, then communication reliability is improved, but device complexity increases
Solution Approach 1:
The patent employs a universal UWB module that integrates multiple antenna elements and signal processing capabilities into a single device. This integrated module handles obstacle blocking and signal reliability issues through internal diversity reception and signal processing, eliminating the need for careful external antenna installation while maintaining communication reliability in obstructed environments.
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 object following in tight spaces and environments with obstacles, reducing system complexity and load, while allowing ultra-small unmanned vehicles to effectively track and be tracked by other robots, with improved precision and adaptability.
Implementation Method 1
estimating a distance to the object based on a round trip delay calculated by an SS-TWR method
Implementation Method 2
predicting a relative position of the object based on the second odometry information and first odometry information of the first odometry measurement device
Data Source
AI summary
Disclosed are a method and apparatus for enabling a robot to follow an object by using distance measurement data and odometry data through ultra-wideband (UWB) to estimate a relative position of a target in a robot center coordinate system. The method comprises initializing a robot's own object following algorithm according to an object following request; transmitting a single-sided two-way ranging (SS-TWR) poll message; receiving a single response message in response to the SS-TWR poll message from the object, the single response message including second odometry information of a second odometry measurement device of the object; estimating a distance to the object based on a round trip delay calculated by an SS-TWR method; predicting a position of the object based on the second odometry information and first odometry information of the first odometry measurement device; and correcting the position of the object based on the estimated distance.