UWB Trajectory Adjustment for Autonomous Mobile Collision Avoidance
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Solution Overview
Problem
Mobile robots in human-machine coexistence scenarios face challenges in responding to unexpected human intrusions due to sensor blind spots or obstructions, potentially leading to collisions or system congestion.
Innovation Solution
Implementing UWB modules with Bluetooth units and chips on autonomous mobile devices and target objects to facilitate ranging and trajectory adjustments based on received ranging information, enabling real-time collision avoidance and congestion management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional sensors are used for obstacle detection, then the device structure remains simple, but the detection coverage is insufficient due to blind spots and obstructions
Solution Approach 1:
The patent combines multiple sensing modalities (UWB ranging, Bluetooth communication, and existing sensors) into an integrated perception system. The UWB module merges with the Bluetooth unit to form a unified wireless communication and ranging system, enabling the mobile device to detect obstacles through multiple channels simultaneously, thereby eliminating blind spots without significantly increasing overall system complexity
Solution Approach 2:
The UWB module serves multiple functions: it acts as both a communication device (Bluetooth unit) and a ranging sensor (UWB chip), while also enabling trajectory adjustment and collision avoidance. This multi-functionality allows the system to improve detection coverage without adding dedicated single-purpose components, thus managing device complexity effectively
2Reliability
If the mobile robot responds quickly to avoid collisions, then safety is improved, but the system may stop frequently causing congestion
Solution Approach 1:
The system performs preliminary trajectory adjustment by predicting potential collision risks before they materialize. By using UWB ranging to detect obstacles at a distance and pre-calculating safe trajectories, the mobile device can smooth its path adjustments rather than making abrupt stops, thereby maintaining both safety and system efficiency
Solution Approach 2:
The trajectory adjustment mechanism dynamically adapts the mobile device's motion based on real-time obstacle detection. Instead of fixed stop-distance thresholds, the system continuously optimizes the trajectory by adjusting speed and direction parameters, allowing smooth navigation around obstacles and reducing unnecessary stops that would cause congestion
3Reliability
If the robot maintains a safe distance from obstacles, then collision risk is reduced, but the robot's mobility and efficiency are limited
Solution Approach 1:
The safe distance is not fixed but dynamically adjusted based on relative velocity, obstacle type, and environmental context. The trajectory adjustment algorithm calculates optimal safety margins in real-time, allowing the robot to approach obstacles more closely when safe and maintain greater distance when risk is higher, thereby improving mobility without compromising collision avoidance
Solution Approach 2:
The system continuously monitors the distance to obstacles through UWB ranging and provides feedback to the trajectory planning module. This closed-loop control allows the robot to adjust its speed and position dynamically, maintaining an adaptive safety distance that optimizes both collision avoidance and mobility efficiency
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
Ensures timely trajectory adjustments to avoid collisions and maintain system efficiency by accurately determining the position of obstacles or intruders, thereby preventing accidents and optimizing robot operations.
Implementation Method 1
determining current position information of the target object according to the first ranging information
Data Source
Figure 1~2A
Figure 2B
Figure 2C
AI summary
A method and apparatus for trajectory adjustment of an autonomous mobile device. The method is applicable to the autonomous mobile device in which at least one first UWB module is arranged, the first UWB module comprising a Bluetooth unit and a UWB chip. The method comprises: on the basis of the Bluetooth unit of the first UWB module, receiving first ranging trigger information sent by a target obstacle object (202), wherein the target obstacle object is provided with at least one second UWB module; on the basis of the first ranging trigger information and by means of the UWB chip of the first UWB module, sending a first ranging request to the target obstacle object (204); acquiring first ranging information returned by the target obstacle object on the basis of the first ranging request (206); according to the first ranging information, determining current position information of the target obstacle object (208); and on the basis of the current position information, adjusting a movement trajectory of the autonomous mobile device (210).