Mobile Body Localization Control for Changing Environments

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Solution Overview

Problem

Existing mobile body localization techniques struggle with accuracy and robustness due to environmental changes, leading to potential loss of self-position recognition.

Innovation Solution

A mobile body controller that dynamically adjusts localization parameters based on recognized environmental conditions, utilizing sensors and an extended Kalman filter to optimize sensor fusion and improve localization accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If the mobile body uses fixed localization parameters in changing environments, then the device complexity is reduced, but the localization accuracy deteriorates

Engineering Contradiction:

Improvelocalization system complexityVSAvoidlocalization accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent implements dynamic parameter adjustment by continuously monitoring environmental conditions (illumination, temperature, humidity) and adapting localization parameters in real-time. The controller dynamically selects from multiple pre-set parameter sets or adjusts parameters continuously based on environmental sensor feedback, transforming the static localization system into a dynamic one that maintains accuracy across varying conditions without requiring complex manual reconfiguration

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent changes localization parameters (such as sensor thresholds, fusion weights, or algorithm constants) based on detected environmental conditions. When environmental sensors detect changes in illumination, temperature, or humidity, the controller modifies localization parameters to optimize performance for current conditions, directly applying parameter changes to resolve the accuracy-complexity contradiction

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If the mobile body switches traveling modes based on environment, then the adaptability is improved, but the reliability of position recognition deteriorates

Engineering Contradiction:

Improvetraveling mode adaptabilityVSAvoidposition recognition reliability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent implements a feedback mechanism where environmental sensors continuously monitor conditions and provide input to the controller. The controller uses this feedback to adjust localization parameters and select appropriate traveling modes, ensuring that mode switching is based on reliable environmental data. This feedback loop maintains position recognition reliability by continuously adapting to environmental changes rather than relying on fixed mode switching rules

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent creates a universal localization system that can operate reliably across multiple traveling modes and environmental conditions by using a common set of adjustable parameters. Rather than having mode-specific localization systems, the same localization framework adapts its parameters universally based on environmental conditions, maintaining reliability across diverse operating scenarios

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12411013B2Mobile body, method of controlling mobile body, and program

Publication Date: 2025.09.09 SONY GROUP CORP

AI summary

A mobile body controller according to the present disclosure includes circuitry configured to recognize an environment surrounding a mobile body to be controlled, and change parameters used for self-position estimation by the mobile body based on the recognized environment.