Autonomous Movement Control With Adaptive Defense Space
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Solution Overview
Problem
Existing autonomous moving systems do not effectively avoid collisions with obstructions when starting to move, as they lack the ability to dynamically adjust their movement based on the presence and classification of nearby obstacles, leading to potential collisions.
Innovation Solution
An autonomous moving system that includes a control unit for collision control, a setting unit for establishing a defense space around the moving body, and a classifying unit using machine learning algorithms to classify obstructions, allowing the system to adjust its movement and defense space range based on the classification of detected obstructions, including walls, wheelchairs, and stretchers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous moving body starts moving when an obstruction is outside the entry-prohibited space, then the moving body can maintain movement continuity and productivity, but the moving body may collide with obstructions that move into the prohibited space immediately after starting
Solution Approach 1:
The system performs preliminary classification of obstructions before the autonomous moving body starts moving. By categorizing obstructions as movable or immovable in advance, the system can predict potential collision risks and adjust movement timing accordingly, preventing collisions before they occur while maintaining productivity when safe.
Solution Approach 2:
The entry-prohibited space is dynamically adjusted based on obstruction classification. For movable obstructions, the prohibited space is expanded to account for potential movement into the path. For immovable obstructions, the space remains standard. This dynamic adjustment allows the system to maintain movement continuity when safe while ensuring collision avoidance when risks are present.
2Reliability
If the autonomous moving body stops when an obstruction is present in the entry-prohibited space, then collision avoidance is ensured, but the moving body cannot start moving until the obstruction moves away
Solution Approach 1:
The system classifies obstructions as movable or immovable before making movement decisions. When an immovable obstruction is detected in the prohibited space, the system understands that the obstruction will not move away, allowing it to safely proceed with movement after adjusting the prohibited space, rather than waiting indefinitely.
Solution Approach 2:
The system changes the parameters of the entry-prohibited space based on obstruction classification. For immovable obstructions, the prohibited space is adjusted to exclude the obstruction from the avoidance zone, allowing movement to proceed. This parameter change enables the system to differentiate between situations requiring waiting and those allowing continued operation.
3Ease of operation
If the autonomous moving body uses a fixed entry-prohibited space, then the control system is simple and easy to operate, but the body cannot adapt to different types of obstructions and situations
Solution Approach 1:
The system segments the obstruction detection and control process into distinct classification and execution phases. The classifying unit divides obstructions into movable and immovable categories, allowing the control unit to apply different rules for each type. This segmentation maintains operational simplicity while enabling adaptive responses to different situations.
Solution Approach 2:
The classifying unit acts as an intermediary between the sensor and the control unit. It processes sensor data to categorize obstructions and provides this classified information to the control unit, which then makes movement decisions. This intermediary layer adds adaptability without significantly complicating the overall control system.
Data Source
AI summary
An autonomous moving system according to the present disclosure includes a control unit executing control of movement of an autonomous moving body, including collision control, a setting unit setting a predetermined defense space around the autonomous moving body, for executing the collision control, and a classifying unit classifying an obstruction detected by a detecting unit installed in the autonomous moving body, and an obstruction detected by a detecting unit installed in a facility space through which the autonomous moving body moves. The setting unit changes a range of the defense space to a first range based on a result of the classifying unit classifying the obstruction detected by one of the detecting units, and changes the range of the defense space from the first range to a second range based on a result of the classifying unit classifying the obstruction detected by at least another of the detecting units.