Load Transport Motion Planning Using Shared 3D Sensing
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Solution Overview
Problem
Existing autonomous load transport systems, such as forklifts, require expensive sensors and control devices to accurately detect the position and loading state of pallets, leading to increased costs and system size.
Innovation Solution
A load transport system comprising a first mover with a sensor to detect a three-dimensional distribution of surrounding objects and a processor to make a motion plan for a second mover, allowing it to operate without mounting expensive sensors or control devices on the second mover.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If expensive sensors and control devices are mounted on the second mover (load transport vehicle), then measurement precision and control accuracy are improved, but device complexity and system cost increase
Solution Approach 1:
The patent introduces a first mover (mobile measurement vehicle) as an intermediary that carries the sensor and processor. This mobile measurement vehicle moves to different positions to collect spatial data about the environment, which is then used to control the second mover (load transport vehicle). The intermediary approach allows the expensive sensing and processing equipment to be shared across multiple operations rather than being permanently mounted on each vehicle.
Solution Approach 2:
The system performs preliminary mapping and position detection actions by having the first mover navigate to predetermined positions and collect sensor data about the environment, pallets, and loads before the actual loading operation begins. This preliminary data collection creates a spatial model that is then used to plan and execute the load transport operations without requiring real-time sensors on the second mover.
2Measurement precision
If expensive sensors and control devices are mounted on the second mover, then measurement precision is improved, but system cost increases
Solution Approach 1:
The first mover serves multiple functions: it acts as a mobile measurement platform, a navigation vehicle, and a data collection device. By making the measurement system universal and shareable across the warehouse environment rather than dedicated to a single vehicle, the system reduces overall costs while maintaining measurement precision for all load transport operations.
Solution Approach 2:
The system creates a digital copy or model of the physical environment through sensor data collection. The processor builds a spatial representation of the warehouse, pallets, and loads based on measurements taken by the first mover. This digital model is then used to plan and control the second mover's operations, replacing the need for physical sensors on the second mover with virtual sensing through data processing.
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 smooth load transport operations by accurately detecting the position and loading state of pallets, preventing collisions and reducing system costs and size.
Implementation Method 1
a first sensor that outputs sensor data indicating a three-dimensional distribution of objects surrounding the first mover
Data Source
AI summary
A load transport system includes a first mover, a second mover that performs a job of transporting a load, and a processor. The first mover includes a first driver that moves the first mover and a first sensor that outputs sensor data indicating a three-dimensional distribution of objects surrounding the first mover. The second mover includes a second driver that moves the second mover and a loader that performs an operation of loading the load. The processor makes a motion plan of the second mover to cause the loader to operate in response to the sensor data.