Plurality of autonomous mobile robots and controlling method for the same
AssigneeLG Electronics Inc.
InventorsDonghoon Kwak, Hyukdo Kweon, Jaehwan Ko
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Abstract
A plurality of autonomous mobile robots includes a first mobile robot and a second mobile robot. The first mobile robot is provided with a transmitting optical sensor for outputting laser light, and a first module for transmitting and receiving an Ultra-Wideband (UWB) signal. The second mobile robot is provided with a receiving optical sensor for receiving the laser light and a plurality of second modules for transmitting and receiving the UWB signal. A control unit of the second mobile robot determines a relative position of the first mobile robot based on the received UWB signal and a determination of whether the laser light is received by the optical sensor.
Claims9
A plurality of autonomous mobile robots, comprising:
- a first mobile robot including a transmitting optical sensor for outputting laser light and a UWB tag for transmitting and receiving an Ultra-Wideband (UWB) signal;
- and
- a second mobile robot including a receiving optical sensor for receiving the laser light and a plurality of UWB anchors for transmitting and receiving the UWB signal,
- wherein the second mobile robot comprises a controller configured to determine a relative position of the first mobile robot based on the UWB signal received through the plurality of UWB anchors and a determination of whether the laser light has been received by the receiving optical sensor,
- wherein:
- the second mobile robot comprises a first UWB anchor and a second UWB anchor included in the plurality of UWB anchors and located at different positions, and
- the controller of the second mobile robot is configured to determine a first distance between the first UWB anchor and the UWB tag and a second distance between the second UWB anchor and the UWB tag, in response to the UWB signal output from the UWB tag being received through the first and the second UWB anchors,
- wherein the controller of the second mobile robot is configured to determine two intersections between a first circle and a second circle, wherein the first UWB anchor is a center of the first circle and the first distance is a radius of the first circle, and wherein the second UWB anchor is a center of the second circle and the second distance is a radius of the second circle.
A method for controlling a plurality of autonomous mobile robots including a first mobile robot and a second mobile robot, the method comprising:
- outputting, by the first mobile robot, laser light and an Ultra-Wideband (UWB) signal;
- receiving, by the second mobile robot, the UWB signal;
- determining, by the second mobile robot, a relative position of the first mobile robot, based on the received UWB signal and a determination of whether the laser light is received by an optical sensor on the second mobile robot;
- determining, by the second mobile robot, one of two positions determined by an UWB tag in the first mobile robot and a plurality of UWB anchors as the relative position of the first mobile robot, based on whether the laser light is received through the optical sensor;
- and
- determining two intersections between a first circle and a second circle, wherein a first UWB anchor in the second mobile robot is a center of the first circle and a first distance between the first UWB anchor and the UWB tag is a radius of the first circle, and wherein a second UWB anchor in the second mobile robot is a center of the second circle and a second distance between the second UWB anchor and the UWB tag is a radius of the second circle.
Dependencies are inferred from the claim text.