Moving Body Footprint Control for Protruding Load Routing
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Solution Overview
Problem
Conventional techniques for movement control of moving bodies based on footprints result in excessively large footprints when loads protrude, leading to incorrect determination of impassable routes.
Innovation Solution
A moving body equipped with sensors to detect load protrusions, determining the footprint by combining the body's projection with the load's projection onto the ground, allowing for accurate route determination and travel control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the footprint is set to include the entire load projection when load protrudes, then the load collision avoidance is improved, but the route determination accuracy deteriorates causing false impassable route detection
Solution Approach 1:
The footprint is segmented into two distinct regions: a first region corresponding to the moving body's projection and a second region corresponding to the protruding portion's projection. This segmentation allows the system to separately account for the body and load, preventing the entire footprint from being unnecessarily enlarged while still protecting the protruding load from collision.
Solution Approach 2:
The footprint protection is applied locally only where needed - the second region is specifically generated only for the protruding portion of the load, not the entire load or body. This localized approach ensures collision avoidance for protruding parts without causing false impassable route detections in areas where the load does not actually extend.
2Reliability
If the footprint is enlarged to cover protruding load, then the protection of protruding load is improved, but the traveling efficiency deteriorates due to unnecessary detours
Solution Approach 1:
By segmenting the footprint into body-specific and load-specific regions, the system generates a minimized protection zone that only covers the actual protruding portion. This prevents unnecessary detours around the entire load while still protecting the protruding parts, thereby maintaining traveling efficiency.
Solution Approach 2:
The footprint dynamically adapts based on the actual protruding portion detected by the sensor. When load protrudes, only the necessary second region is added; when load does not protrude, the footprint remains as the first region only. This dynamic adjustment optimizes both protection and traveling efficiency.
Data Source
AI summary
A moving body includes a sensor that detects a protruding portion of a load, a determination unit that determines whether or not the protruding portion is present, a footprint setting unit that sets a footprint formed by a first region obtained by projecting the moving body on the ground and a second region obtained by projecting the protruding portion on the ground or a footprint formed by the first region, depending on the presence or absence of the protruding portion, and a travel control unit that controls traveling of the moving body based on the footprint.