Obstacle Detection Coverage Field Alignment for Narrow-Aisle MHVs
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Solution Overview
Problem
Material handling vehicles (MHVs) face challenges in navigating narrow aisles due to limitations in obstacle detection coverage fields, particularly when deviating from intended paths or using wire guidance systems, which can result in reduced efficiency and missed or false obstacle detection.
Innovation Solution
A system comprising a sensor and a controller that generates and transforms coverage fields for obstacle detection based on the MHV's position relative to the guidance system, ensuring accurate detection of obstacles within the vehicle's path while ignoring extraneous obstacles, by adjusting the sensor's output based on the vehicle's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed coverage field is used for obstacle detection, then the sensor coverage area is simplified and easier to implement, but the obstacle detection accuracy deteriorates when the MHV deviates from the intended path or uses wire guidance systems
Solution Approach 1:
The coverage field is transformed dynamically based on the MHV's actual position and orientation relative to the guidance system. The controller continuously adjusts the coverage field parameters (rotation angle, translation offset) to match the vehicle's deviation from the intended path, ensuring accurate obstacle detection despite path variations or wire guidance effects
Solution Approach 2:
The system uses feedback from the MHV's position characteristics (actual position, orientation) to adjust the coverage field. The controller receives position data, calculates the deviation from the intended path, and transforms the coverage field accordingly, creating a closed-loop system that maintains detection accuracy
2Reliability
If the sensor coverage field is adjusted to cover the entire narrow aisle, then obstacle detection coverage is improved, but false obstacle detection increases due to extraneous obstacles outside the vehicle's path
Solution Approach 1:
The coverage field is transformed to concentrate sensor coverage locally around the MHV's actual path rather than uniformly covering the entire aisle. This creates a focused detection zone that follows the vehicle's trajectory, improving reliability for path obstacles while excluding extraneous obstacles outside the transformed coverage area
3Measurement precision
If the coverage field is transformed based on MHV position, then obstacle detection accuracy is improved, but the computational complexity and processing time increase
Solution Approach 1:
The system applies partial transformation by rotating and translating the coverage field based only on the necessary position characteristics (position offset and orientation angle) rather than processing the entire sensor data set or considering all possible path variations. This reduces computational overhead while maintaining detection accuracy
Data Source
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AI summary
Systems and methods for generating a coverage field for obstacle detection. The system includes a sensor to detect obstacles. The system further includes a material handling vehicle guided by a guidance system and a controller. The controller is configured to: generate a coverage field for the sensor, receive position characteristics of the material handling vehicle, determine a position of the material handling vehicle relative to the guidance system based on the position characteristics, and transform the coverage field based on the determined position of the material handling vehicle.