Following Robot Control During Preceding Vehicle Occlusion
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Solution Overview
Problem
In existing moving body systems, when an object such as a human enters the space between a preceding moving body and a following robot, the following robot may lose sight of the preceding moving body, leading to difficulties in resuming following travel even after the obstruction is cleared.
Innovation Solution
A moving body system comprising a preceding moving body and a following moving body, where the following moving body includes a position calculator, a receiver, and an operation controller. The position calculator identifies the position of the preceding moving body using sensor data, the receiver obtains displacement information from the preceding moving body, and the operation controller controls the movement of the following moving body based on the identified position and displacement information, even when the position calculator cannot identify the preceding moving body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a range sensor is used to detect the preceding moving body, then the following robot can accurately grasp the path and move along it, but when an object enters the space between the preceding moving body and the following robot, the following robot cannot detect the preceding moving body and cannot resume following travel automatically
Solution Approach 1:
The system performs preliminary actions by having the preceding moving body continuously transmit displacement information (position, speed, acceleration) to the following robot via wireless communication. This allows the following robot to maintain an updated model of the preceding body's trajectory and motion state, so that when detection is temporarily blocked, it can predict and follow the path without interruption.
Solution Approach 2:
Displacement information serves as an intermediary that bridges the gap between the preceding moving body and the following robot when direct sensor detection is blocked. The wireless transmission of position, speed, and acceleration data allows the following robot to infer the preceding body's location and trajectory without needing direct line-of-sight detection, thus maintaining following capability even when objects obstruct the sensor view.
2Measurement precision
If the following robot waits to detect the preceding moving body before moving, then detection accuracy is maintained, but the distance between the preceding moving body and the following robot becomes long, making it harder to resume following
Solution Approach 1:
The system performs preliminary actions by continuously receiving and processing displacement information from the preceding moving body, maintaining an updated trajectory model in advance. This allows the following robot to immediately resume following when detection is restored, without needing to wait for the preceding body to come back into view or to recalculate the path from scratch.
Solution Approach 2:
The system implements feedback by continuously receiving displacement information (position, speed, acceleration) from the preceding moving body and using it to adjust the following robot's motion. This closed-loop information flow allows the following robot to maintain synchronization with the preceding body's trajectory even during temporary detection losses, reducing the time needed to resume following.
3Device complexity
If the following robot uses only sensor detection to follow the preceding moving body, then the system structure remains simple, but the following robot cannot automatically find and resume following the preceding moving body when detection is lost
Solution Approach 1:
The system merges two approaches: sensor-based detection (range sensor detecting reflective targets) and communication-based tracking (wireless transmission of displacement information). By combining these methods, the following robot gains both the simplicity of optical detection and the robustness of continuous information transmission, enabling it to maintain following capability even when the sensor is temporarily blocked.
Solution Approach 2:
The displacement information transmission system serves multiple functions: it provides continuous trajectory data for path following, enables prediction of the preceding body's motion during occlusion, and allows the following robot to resume following automatically without complex recovery procedures. This multi-functional approach enhances adaptability while maintaining relatively simple system architecture.
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
Enables the following moving body to automatically find and resume following the preceding moving body even in situations where it temporarily loses sight, maintaining efficient navigation and reducing the risk of collision or loss of synchronization.
Implementation Method 1
a range sensor that emits an electromagnetic wave such as laser, for example, and detects a distance and a direction to a surrounding component by a reflected wave from the surrounding component
Data Source
AI summary
A moving body that follows a preceding moving body includes a position calculator that identifies a position of the preceding moving body based on an output value from a sensor that acquires information around the moving body, a receiver that receives displacement information indicating a displacement amount of a position of the preceding moving body due to movement of the preceding moving body, and an operation controller that performs control to move the moving body based on an identified position of the preceding moving body and the displacement information in a state of losing sight in which the position calculator cannot identify a position of the preceding moving body.