Route Updating for AGV Position Estimation Accuracy Gaps
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Solution Overview
Problem
Existing position and orientation estimation technologies for autonomous movable apparatuses, such as AGVs, face instability when no reliability map data is available, leading to inaccurate route planning and operation.
Innovation Solution
An information processing device that acquires route information, environment information, estimates self-position and orientation, calculates accuracy, and updates the route based on calculated accuracy to ensure stable operation, using sensors like stereo cameras and LiDAR for environment mapping and route adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If reliability map data is used to generate routes with high position and orientation estimation reliability, then route planning accuracy is improved, but the movable apparatus cannot operate stably when reliability map data is unavailable
Solution Approach 1:
The patent introduces an intermediary accuracy calculation unit that computes estimation accuracy based on current environment information (sensor data, map data, recognition results) when reliability map data is unavailable. This intermediary mechanism bridges the gap between having and not having pre-built reliability maps, allowing the system to dynamically calculate accuracy on-demand using available resources as a substitute for the missing reliability map data.
Solution Approach 2:
The system performs preliminary accuracy calculation based on current environment information before route execution. By calculating estimation accuracy in advance using available sensor data and map information, the system prepares accuracy assessments that guide route selection and adjustment, enabling stable operation without relying on pre-built reliability maps.
2Measurement precision
If the system relies on pre-built reliability map data for route generation, then position estimation accuracy is improved, but the system lacks adaptability to changing conditions or new environments
Solution Approach 1:
The patent transforms the static reliability map approach into a dynamic system that calculates estimation accuracy in real-time based on current environment information. The accuracy calculation unit continuously updates accuracy assessments using current sensor data, map information, and recognition results, allowing the system to adapt to changing conditions and new environments without requiring pre-built reliability maps for each scenario.
Solution Approach 2:
The system changes the parameter basis for accuracy assessment from static reliability map data to dynamic environment information including sensor data, map data, and recognition results. By changing what parameters are used to calculate accuracy (from pre-computed reliability values to real-time environmental parameters), the system gains adaptability to new and changing conditions while maintaining position estimation accuracy.
Data Source
AI summary
An information processing device includes a route information acquisition unit configured to acquire information about a route on which a movable apparatus moves; an environment information acquisition unit configured to acquire environment information on the route for moving the movable apparatus; an estimation unit configured to estimate a self-position and orientation of the movable apparatus and store a result of the estimation in the environment information; an accuracy calculation unit configured to calculate an accuracy for estimating a self-position and orientation of the movable apparatus on the basis of the environment information; and a route setting unit configured to update a route of the movable apparatus according to an accuracy calculated by the accuracy calculation unit.