Forklift Parking Approach Control Using Ceiling Position Markers
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Solution Overview
Problem
Mobile objects, such as forklifts, face challenges in detecting their position accurately near parked transportation vehicles due to obstacles like other vehicles and traffic, which hinders their ability to navigate effectively in parking areas.
Innovation Solution
A control method that involves a mobile object detecting positional signs on the ceiling within a lateral area adjacent to the parking area, allowing it to move along a specific direction and turn towards the parking area, ensuring accurate positioning and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile object detects signs on the floor or ceiling to determine its position, then the position detection capability is improved, but in the vicinity of the parking area where transportation vehicles are parked, the position cannot be properly detected due to vehicles getting in the way
Solution Approach 1:
The patent places detection signs on the ceiling in the lateral area above the parking zone, transitioning from floor-level detection to ceiling-level detection. This dimensional change allows the mobile object to detect its position in the lateral area without being blocked by transportation vehicles on the floor, thereby resolving the detection obstruction problem while maintaining position accuracy.
2Productivity
If the mobile object moves directly toward the parking area, then the navigation efficiency is improved, but the position detection fails due to transportation vehicles blocking the detection path
Solution Approach 1:
The navigation path is segmented into two distinct phases: first, moving along the lateral area where ceiling signs are detectable for position acquisition, and second, turning into the parking area for target delivery. This segmentation allows position detection to occur in the obstruction-free lateral area before entering the parking zone, maintaining both navigation efficiency and detection accuracy.
3Area of stationary object
If signs are provided only in the parking area, then the position detection coverage is improved, but the mobile object cannot detect signs when blocked by transportation vehicles
Solution Approach 1:
The detection signs are relocated from the floor level to the ceiling level in the lateral area above the parking zone. This vertical displacement to another dimension creates a detection zone that is not obstructed by transportation vehicles on the floor, thereby expanding the effective detection coverage area while eliminating vehicle blockage interference.
Data Source
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AI summary
A control method is for a mobile object that automatically moves in situation where signs each indicating a position are provided on a ceiling of a lateral area on a first direction side with respect to a parking area where a transportation vehicle is parked, along a second direction that intersects the first direction and that is along the parking area. The method includes acquiring positional information of the mobile object by causing the mobile object to detect at least one of the signs; causing the mobile object to move within the lateral area toward the second direction based on the positional information of the mobile object; and causing the mobile object to move toward the parking area by causing the mobile object to turn and move toward an opposite side to the first direction after causing the mobile object to move within the lateral area toward the second direction.