Autonomous Line-Following Control Using Variable Guide Line Width
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Solution Overview
Problem
Existing autonomous travel systems require complex configurations with dedicated sensors and specialized magnetic tapes to perform predetermined operations at specific positions, leading to system restrictions and complications.
Innovation Solution
An autonomous travel device equipped with a detecting unit and a control unit that determines the width of a line guide, allowing it to perform different operations based on the detected width, enabling simple and accurate control for predetermined actions at desired positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a marker is placed at a predetermined position and a dedicated sensor is used to detect the marker, then the autonomous travel device can perform predetermined operations at specific positions, but the autonomous travel device becomes complicated
Solution Approach 1:
The invention extracts the position identification function from the guide line itself by creating width variations (widened portions) rather than adding separate markers. The detecting unit already present in the autonomous travel device for line detection is repurposed to detect these width variations, eliminating the need for dedicated marker detection sensors and reducing device complexity.
Solution Approach 2:
The invention transitions from detecting position through separate markers (one-dimensional addition) to detecting position through width variations of the guide line itself (two-dimensional utilization). By varying the width of the guide line at specific positions, the system encodes position information in the spatial dimension of the line structure, allowing the existing line detection sensor to identify predetermined positions without additional sensors.
2Ease of operation
If a special magnetic tape alternately magnetized to N pole and S pole is used and a magnetic sensor capable of detecting magnetic poles is provided, then the autonomous travel device can perform predetermined operations based on detection results, but the tape and sensor to be used are significantly restricted
Solution Approach 1:
The invention makes the guide line serve multiple functions: it provides both directional guidance and position identification. The width variations in the guide line allow the same line structure to convey two types of information (direction and position), eliminating the need for specialized magnetic tapes and pole-detecting sensors, thereby increasing adaptability in tape and sensor selection.
Solution Approach 2:
The invention changes the physical parameter of the guide line from uniform width to variable width with widened portions at specific positions. This parameter change enables the guide line to encode position information that can be detected by conventional line detection sensors, replacing the need for specialized magnetic properties and expanding the range of usable tapes and sensors.
3Measurement precision
If markers are placed on the travel route and dedicated sensors are used for detection, then predetermined operations can be controlled at specific positions, but the system configuration becomes complicated
Solution Approach 1:
The invention merges the functions of guide line and position marker into a single integrated structure. The widened portions of the guide line serve as both the guidance path and the position identifier, allowing the existing line detection sensor to perform both guidance following and position identification, thereby simplifying the overall system configuration while maintaining precise position detection.
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
This solution allows for easy realization of control to perform predetermined operations at specific positions on a travel route, avoiding complications and system restrictions, and accurately distinguishing between normal and widened line sections.
Implementation Method 1
a magnetic tape serving as a guide for traveling is attached on a route along which an autonomous travel device travels, and the autonomous travel device moves along the magnetic tape while detecting the magnetic tape
Data Source
AI summary
There is provided a technique capable of easily realizing control to cause an autonomous travel device to perform a predetermined operation at a predetermined position on a travel route.An autonomous travel device (2) is an autonomous travel device that travels along a line (1) placed on a travel route, and includes a detecting unit (line sensor (21)) that detects the line (1), and a control unit that controls an operation of the autonomous travel device (2) on the basis of a detection result from the detecting unit. The control unit determines a width (W) of the line (1) on the basis of the detection result from the detecting unit. If the determined width (W) of the line (1) is smaller than a predetermined reference width, the control unit causes the autonomous travel device (2) to perform a travel operation of traveling along the line (1). On the other hand, if the determined width (W) of the line (1) is larger than or equal to the predetermined reference width, the control unit causes the autonomous travel device (2) to perform a predetermined operation different from the travel operation.