External Sensor Path Planning for Moving Object Pickup Alignment
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Solution Overview
Problem
Existing systems face challenges in generating accurate wide area trajectory data for moving objects like forklifts when the target object's position is not fixed, leading to high calculation loads and potential delays, especially when the object's position and orientation are not precisely determined.
Innovation Solution
An arithmetic device that acquires position and orientation information of the target object from sensors placed outside the moving object, generates a path to reach the target position and orientation, and outputs this information to the moving object, enabling precise movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the target object position is not fixed and sensed by the moving object's sensor, then the system can handle variable positions, but the trajectory calculation load increases and calculation time increases
Solution Approach 1:
The patent applies preliminary action by having the external sensor acquire the target object's position information before the moving object begins its movement. This pre-acquisition of position data allows the trajectory to be calculated in advance based on known parameters, rather than requiring real-time calculation during movement. The external sensor (LIDAR, camera, or radar) captures the target position, and this information is used to pre-compute the trajectory, significantly reducing calculation time during actual operation.
2Speed
If high performance arithmetic device is used, then calculation speed improves, but device complexity and cost increase
Solution Approach 1:
The patent introduces an external sensor as an intermediary device that acquires target position information before the moving object starts movement. This intermediary sensor system separates the position detection function from the moving object itself, allowing the arithmetic device to work with pre-acquired data rather than requiring high-performance real-time processing. The external sensor acts as a mediator that provides the necessary position data in advance, reducing the computational burden on the arithmetic device.
3Measurement precision
If the sensor is provided on the moving object, then the system can detect the target object, but the calculation load is high when the target position is not predetermined
Solution Approach 1:
The patent extracts the position detection function from the moving object by placing the sensor on an external device. Instead of relying on the moving object's sensor to detect and track the target in real-time, the system uses an external sensor to acquire the target's position information beforehand. This extraction of the detection function reduces the computational complexity for trajectory calculation, as the position data is already available from the external sensor rather than requiring continuous real-time detection during movement.
Data Source
AI summary
An arithmetic device is an arithmetic device configured to output information to a moving object that automatically moves. The arithmetic device includes: a target object information acquisition unit configured to acquire, from a sensor provided in a place other than to the moving object, a detection result of position information of a target object, the position information being information related to position and orientation of the target object; a route setting unit configured to set, based on the position information of the target object, a route to a target position at which predetermined position and orientation relative to the target object are reached; and an information output unit configured to output information of the route to the moving object.