Autonomous Moving Apparatus Inclination Detection
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Solution Overview
Problem
Autonomous moving apparatuses face reduced self-position estimation accuracy and increased errors in global map generation due to posture changes, such as inclination, which lead to incorrect distance measurements and map updates.
Innovation Solution
Incorporating an inclination detecting unit that stops self-position estimation and global map generation when the distance information acquiring unit is inclined, and resumes these processes when the inclination stabilizes, using a laser range finder for accurate distance measurement and a travel amount calculating unit for position estimation during inclination changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous moving apparatus continues to estimate self-position and generate global map during inclination, then the system operates continuously without interruption, but the estimation accuracy deteriorates and errors increase
Solution Approach 1:
The system periodically checks the inclination state through the inclination detecting unit and alternates between normal operation mode (SLAM) and interrupted operation mode based on whether inclination exceeds the threshold, enabling continuous operation while maintaining accuracy during critical phases
Solution Approach 2:
The harmful factor of inclination is extracted and detected separately by the inclination detecting unit, allowing the system to identify when inclination affects measurement accuracy and take appropriate corrective action by interrupting operations during excessive inclination
2Reliability
If the autonomous moving apparatus uses distance information acquired during inclination, then the system maintains operational continuity, but the generated global map contains errors
Solution Approach 1:
The inclination detecting unit provides continuous feedback about the apparatus's tilt state to the control unit, which uses this feedback to determine whether to proceed with distance measurement and map generation, thereby preventing error propagation while maintaining operational reliability
Solution Approach 2:
The system performs preliminary inclination checking before acquiring distance information during inclined states, and only proceeds with distance measurement and map generation when the inclination is within acceptable thresholds, preventing erroneous data acquisition in advance
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
Minimizes the reduction in self-position estimation accuracy and error in global map generation by preventing the use of improperly acquired distance information during inclination, allowing for accurate and continuous self-position estimation and map generation, even on inclined surfaces.
Implementation Method 1
measures time from when the laser is emitted until when a reflected wave is detected
Implementation Method 2
detects when the laser is reflected by an object
Data Source
AI summary
An autonomous moving apparatus arranged to travel autonomously in a surrounding environment preferably includes: a distance measuring sensor arranged to output detection waves, detect a distance between the apparatus and an object which has reflected the detection wave based on a reflection state of the detection wave, and acquire information about the distance between the apparatus and the object which exists in the surroundings of the apparatus; an inclination sensor arranged to detect an inclination of the distance measuring sensor; and a control unit arranged to estimate the self-position in the surrounding environment and generate the global map of the surrounding environment based on the distance information. When the distance measuring sensor is determined to be inclined based on a detection result of the inclination sensor, the control unit stops estimating the self-position based on the distance information and stops generating the global map based on the distance information.